Tracked toothbrush and toothbrush tracking system

ABSTRACT

A dental device tracking method including acquiring, using an imager of a dental device, at least a first image which includes an image of at least one user body portion outside of a user&#39;s oral cavity; identifying the at least one user body portion in the first image; and determining, using the at least the first image, a position of the dental device with respect to the at least one user body portion.

RELATED APPLICATIONS

This application is a National Phase 35 U.S.C. § 371 of PCT PatentApplication No. PCT/IL2018/051286, having International filing date ofNov. 26, 2018, which claims the benefit of priority under 35 USC §119(e) of U.S. Provisional Patent Application No. 62/590,613 filed 26Nov. 2017, the contents of which is incorporated by reference as iffully set forth herein in its entirety.

FIELD AND BACKGROUND OF THE INVENTION

The present invention, in some embodiments thereof, relates to a trackedtoothbrush and toothbrush tracking system and, more particularly, butnot exclusively, to a tracked toothbrush including an imager.

Background art includes U.S. Pat. No. 8,744,192, U.S. Patent ApplicationPublication No. US2011/247156, U.S. Patent Application Publication No.US2016/0037903 and U.S. Patent Application Publication No. US2017/238692the contents of which are incorporated herein by reference in theirentireties.

SUMMARY OF THE INVENTION

Following are examples of some embodiments of the invention. Features ofone example may be combined with features of one or more other examples,unless expressly prohibited and form additional examples of someembodiments of the invention.

Example 1. A dental device tracking method comprising:

acquiring, using an imager of a dental device, at least a first imagewhich includes an image of at least one user body portion outside of auser's oral cavity;

identifying said at least one user body portion in said first image; and

determining, using said at least said first image, a position of saiddental device with respect to said at least one user body portion.

Example 2. The method according to Example 1, wherein said determiningalso includes determining a position of a portion of said dental deviceinside said user's oral cavity with respect to said identified at leastone user body portion.

Example 3. The method according to Examples 1 or 2, wherein saiddetermining also includes determining a position of a/said portion ofsaid dental device inside said user's oral cavity with respect to adental feature using an anatomical model.

Example 4. The method according to Example 3, wherein said anatomicalmodel includes said dental feature and said at least one user bodyportion.

Example 5. The method according to Example 2, wherein said dental devicecomprises a toothbrush.

Example 6. The method according to Example 5, wherein said acquiringoccurs during brushing with said toothbrush.

Example 7. The method according to Example 4, wherein said at least oneuser body portion comprises a facial landmark.

Example 8. The method according to Example 1, wherein at least saidfirst image also includes an image of at least a portion of said user'sface.

Example 9. The method according to Example 1, wherein at least saidfirst image also includes a reflected image.

Example 10. The method according to Example 9, wherein said reflectionincludes at least a portion of said user's body.

Example 11. The method according to Example 9, wherein said reflectionincludes at least a portion of said dental device.

Example 12. The method according to Example 3, further comprisingreceiving said anatomical model.

Example 13. The method according to Example 3, further comprising:

acquiring, using the imager, at least one second image which includes animage of at least one dental feature corresponding to the user's face;and

generating said anatomical model using at least said first and seconddental images.

Example 14. The method according to Example 1, further comprising:

determining a position of at least one lower face landmark; and

estimating, using said determined position, a mandibular angle.

Example 15. The method according to Example 1, further comprisingperforming said acquiring, said identifying and said determining, aplurality of times so as to determine a plurality of determined dentaldevice positions.

Example 16. The method according to Example 15, wherein said dentaldevice comprises a toothbrush and said performing occurs during brushingwith said toothbrush.

Example 17. The method according to Example 16, further comprisingevaluating brushing performance using said plurality of determineddental device positions.

Example 18. The method according to Example 17, further comprisingdisplaying feedback to at least one of said user and a dentalpractitioner, based on said evaluating.

Example 19. The method according to Example 17, further comprisingdisplaying feedback to a dental practitioner, based on said evaluating.

Example 20. The method according to Example 17, wherein said evaluatingcomprises evaluating brushing duration for one or more dental feature.

Example 21. The method according to Example 20, wherein said dentalfeature comprises a tooth or at least a portion of a tooth.

Example 22. The method according to Example 17, wherein said evaluatingcomprises identifying brushed dental features.

Example 23. The method according to Example 1, further comprisingsensing contact between said dental device and one or more dentalfeatures.

Example 24. The method according to Example 2, further comprisingcontrolling one or more actuators based on said determined position ofat least a portion of said dental device within a user's oral cavity.

Example 25. The method according to Example 3, comprising:

acquiring:

at least one dental image of a plurality of user dental features usingan intra oral scanner (IOS) imager;

at least one body image of one or more user body portions outside theoral cavity using at least one additional imager of said IOS;

identifying a position of said one or more user body portions withrespect to said IOS, using said at least one image;

generating a tooth model of at least one tooth using said at least onedental image; and

generating said anatomical model using at least said tooth model and atleast said position of said one or more user body portions.

Example 26. The method according to Example 25, wherein said at leastone additional imager is located on a handle of said IOS.

Example 27. A hand-held dental tracking device comprising a handle sizedand shaped to be comfortably grasped by a human user's hand, the handlecomprising:

an anchor configured to attach a dental implement head to said handle;

and

at least one imager with a field of view (FOV) sized and shaped suchthat when at least a portion of said dental implement head is withinsaid user's mouth, to include one or both of:

at least a portion of said user's body outside the oral cavity; and

a reflection of at least a portion said user's body outside the oralcavity.

Example 28. The device according to Example 27, wherein said at least aportion of said user's body outside the oral cavity comprises at least aportion of said user's face.

Example 29. The device according to Example 27, wherein said dentalimplement head is sized and shaped for insertion into a human user'soral cavity.

Example 30. The device according to Example 27, wherein said dentalimplement comprises a toothbrush.

Example 31. The device according to Example 27, further comprising aprojector configured to project light onto at least a portion of saidFOV.

Example 32. The device according to Example 31, wherein said projectorprojects non-visible light and said imager is configured to detect saidnon-visible light.

Example 33. The device according to Example 32, wherein said non-visiblelight comprises infrared light.

Example 34. The device according to Example 27, further comprising anadditional imager with a FOV configured to collect images inside saidoral cavity when a portion of said dental implement device is withinsaid oral cavity.

Example 35. The device according to Example 34, further comprising aprojector configured to illuminate said additional imager FOV withvisible light.

Example 36. The device according to Example 27, wherein said at leastone imager comprises:

a first imager with a FOV configured to image at least a portion of saiduser's body outside the oral cavity;

and

a second imager with a FOV configured to image a reflection of at leasta portion said user's body outside the oral cavity.

Example 37. The device according to Example 27, further comprising atleast one contact sensor configured to detect contact between said heada tooth.

Example 38. The device according to Example 27, wherein said anchor isconfigured to attach a calibration head to said dental device.

Example 39. An adaptor for tracking a dental implement comprising:

a body;

a connector connected to said body and configured to attach said adaptorto said dental implement; and

at least one imager with a field of view sized and shaped, when theadaptor is attached to said dental implement and a head of said dentalimplement is within a human user's mouth, to include one or both of:

at least a portion of said user's face; and

at least a portion of a reflection of said user's face.

Example 40. A glasses for toothbrush tracking comprising:

at least one imager configured to collect images of at least a portionof a toothbrush, during brushing of the teeth with said toothbrush;

a processor configured:

to receive at least one image from said at least one imager;

to identify a position of said toothbrush with respect to said glasses,using said at least one image.

Example 41. The system according to Example 40, wherein said processoris configured to identify a position of a portion of said toothbrushwithin a user's oral cavity.

Example 42. The system according to Example 41, wherein said processoris configured to generate feedback regarding brushing, based on saidposition of said toothbrush.

Example 43. The system according to Example 42, wherein said glassesinclude a user interface configured to display said feedback.

Example 44. The system according to Example 40, wherein said processoris configured to identify one or more marker on said toothbrush, usingsaid at least one image.

Example 45. The system according to Example 41, wherein said processeris configured to identify a position of a portion of said toothbrushwithin a user's oral cavity, with respect to one or more dental feature,using an anatomical model.

Example 46. The device according to Example 43, wherein said feedback isdisplayed as a game.

Example 47. The device according to Example 46, wherein said feedback isdisplayed on a 3D model.

Example 48. The device according to Example 47, wherein said 3D model issaid anatomical model.

Unless otherwise defined, all technical and/or scientific terms usedherein have the same meaning as commonly understood by one of ordinaryskill in the art to which the invention pertains. Although methods andmaterials similar or equivalent to those described herein can be used inthe practice or testing of embodiments of the invention, exemplarymethods and/or materials are described below. In case of conflict, thepatent specification, including definitions, will control. In addition,the materials, methods, and examples are illustrative only and are notintended to be necessarily limiting.

Unless otherwise defined, all technical and/or scientific terms usedherein have the same meaning as commonly understood by one of ordinaryskill in the art to which the invention pertains. Although methods andmaterials similar or equivalent to those described herein can be used inthe practice or testing of embodiments of the invention, exemplarymethods and/or materials are described below. In case of conflict, thepatent specification, including definitions, will control. In addition,the materials, methods, and examples are illustrative only and are notintended to be necessarily limiting.

As will be appreciated by one skilled in the art, some embodiments ofthe present invention may be embodied as a system, method or computerprogram product. Accordingly, some embodiments of the present inventionmay take the form of an entirely hardware embodiment, an entirelysoftware embodiment (including firmware, resident software, micro-code,etc.) or an embodiment combining software and hardware aspects that mayall generally be referred to herein as a “circuit,” “module” or“system.” Furthermore, some embodiments of the present invention maytake the form of a computer program product embodied in one or morecomputer readable medium(s) having computer readable program codeembodied thereon. Implementation of the method and/or system of someembodiments of the invention can involve performing and/or completingselected tasks manually, automatically, or a combination thereof.

Moreover, according to actual instrumentation and equipment of someembodiments of the method and/or system of the invention, severalselected tasks could be implemented by hardware, by software or byfirmware and/or by a combination thereof, e.g., using an operatingsystem.

For example, hardware for performing selected tasks according to someembodiments of the invention could be implemented as a chip or acircuit. As software, selected tasks according to some embodiments ofthe invention could be implemented as a plurality of softwareinstructions being executed by a computer using any suitable operatingsystem. In an exemplary embodiment of the invention, one or more tasksaccording to some exemplary embodiments of method and/or system asdescribed herein are performed by a data processor, such as a computingplatform for executing a plurality of instructions. Optionally, the dataprocessor includes a volatile memory for storing instructions and/ordata and/or a non-volatile storage, for example, a magnetic hard-diskand/or removable media, for storing instructions and/or data.Optionally, a network connection is provided as well. A display and/or auser input device such as a keyboard or mouse are optionally provided aswell.

Any combination of one or more computer readable medium(s) may beutilized for some embodiments of the invention. The computer readablemedium may be a computer readable signal medium or a computer readablestorage medium. A computer readable storage medium may be, for example,but not limited to, an electronic, magnetic, optical, electromagnetic,infrared, or semiconductor system, apparatus, or device, or any suitablecombination of the foregoing. More specific examples (a non-exhaustivelist) of the computer readable storage medium would include thefollowing: an electrical connection having one or more wires, a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), an optical fiber, a portable compact disc read-onlymemory (CD-ROM), an optical storage device, a magnetic storage device,or any suitable combination of the foregoing. In the context of thisdocument, a computer readable storage medium may be any tangible mediumthat can contain, or store a program for use by or in connection with aninstruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal may takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium may be any computer readable medium thatis not a computer readable storage medium and that can communicate,propagate, or transport a program for use by or in connection with aninstruction execution system, apparatus, or device.

Program code embodied on a computer readable medium and/or data usedthereby may be transmitted using any appropriate medium, including butnot limited to wireless, wireline, optical fiber cable, RF, etc., or anysuitable combination of the foregoing.

Computer program code for carrying out operations for some embodimentsof the present invention may be written in any combination of one ormore programming languages, including an object oriented programminglanguage such as Java, Smalltalk, C++ or the like and conventionalprocedural programming languages, such as the “C” programming languageor similar programming languages. The program code may execute entirelyon the user's computer, partly on the user's computer, as a stand-alonesoftware package, partly on the user's computer and partly on a remotecomputer or entirely on the remote computer or server. In the latterscenario, the remote computer may be connected to the user's computerthrough any type of network, including a local area network (LAN) or awide area network (WAN), or the connection may be made to an externalcomputer (for example, through the Internet using an Internet ServiceProvider).

Some embodiments of the present invention may be described below withreference to flowchart illustrations and/or block diagrams of methods,apparatus (systems) and computer program products according toembodiments of the invention. It will be understood that each block ofthe flowchart illustrations and/or block diagrams, and combinations ofblocks in the flowchart illustrations and/or block diagrams, can beimplemented by computer program instructions. These computer programinstructions may be provided to a processor of a general purposecomputer, special purpose computer, or other programmable dataprocessing apparatus to produce a machine, such that the instructions,which execute via the processor of the computer or other programmabledata processing apparatus, create means for implementing thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

These computer program instructions may also be stored in a computerreadable medium that can direct a computer, other programmable dataprocessing apparatus, or other devices to function in a particularmanner, such that the instructions stored in the computer readablemedium produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions may also be loaded onto a computer,other programmable data processing apparatus, or other devices to causea series of operational steps to be performed on the computer, otherprogrammable apparatus or other devices to produce a computerimplemented process such that the instructions which execute on thecomputer or other programmable apparatus provide processes forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks.

Some of the methods described herein are generally designed only for useby a computer, and may not be feasible or practical for performingpurely manually, by a human expert. A human expert who wanted tomanually perform similar tasks, such as collecting dental measurements,might be expected to use completely different methods, e.g., making useof expert knowledge and/or the pattern recognition capabilities of thehuman brain, which would be vastly more efficient than manually goingthrough the steps of the methods described herein.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

Some embodiments of the invention are herein described, by way ofexample only, with reference to the accompanying drawings. With specificreference now to the drawings in detail, it is stressed that theparticulars shown are by way of example and for purposes of illustrativediscussion of embodiments of the invention. In this regard, thedescription taken with the drawings makes apparent to those skilled inthe art how embodiments of the invention may be practiced.

In the drawings:

FIGS. 1A-B are simplified schematics of a toothbrush tracking system,according to some embodiments of the invention;

FIG. 2 is a flowchart of a method of dental device tracking, accordingto some embodiments of the invention;

FIG. 3 is a simplified schematic of a toothbrush including a pluralityof imagers according to some embodiments of the invention;

FIG. 4 is a simplified schematic of a user using a toothbrush trackingsystem, according to some embodiments of the invention;

FIG. 5 is a simplified schematic of a toothbrush including one or morelight projector, according to some embodiments of the invention;

FIG. 6 is a flow chart of a method of generating an anatomical modelusing a dental device, according to some embodiments of the invention;

FIG. 7A is a simplified schematic of a dental device, according to someembodiments of the invention;

FIG. 7B is a simplified schematic of a dental device including atoothbrush attachment, according to some embodiments of the invention;

FIG. 7C is a simplified schematic of a dental device, including acalibration attachment, according to some embodiments of the invention;

FIG. 8A is a simplified schematic of a dental device including acalibration attachment, according to some embodiments of the invention;

FIG. 8B is a simplified schematic of a dental device a calibration headand a toothbrush head, according to some embodiments of the invention;

FIG. 9 is a flow chart of an exemplary method of use, according to someembodiments of the invention;

FIG. 10 is a simplified schematic of a tracking attachment connected toa toothbrush, according to some embodiments of the invention;

FIG. 11 is a simplified schematic of a tracking attachment connected toa toothbrush, according to some embodiments of the invention;

FIG. 12 is a flow chart of a method of user of a dental device,according to some embodiments of the invention; and

FIG. 13 is a simplified schematics of a toothbrush tracking systemincluding user glasses, according to some embodiments of the invention.

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

The present invention, in some embodiments thereof, relates to a trackedtoothbrush and toothbrush tracking system and, more particularly, butnot exclusively, to a tracked toothbrush including an imager.

Overview

A broad aspect of some embodiments of the invention relates to tracking,e.g. 3D tracking, of position of a dental implement and/or device, (e.g.a toothbrush) within a user's mouth, using images of user body portion/soutside the user's oral cavity. In some embodiments, one or more imageis collected by one or more dental implement imager.

Alternatively or additionally, in some embodiments, images of the userbody portion/s outside the oral cavity are collected by imager/sexternal to the dental implement.

In some embodiments, the dental implement includes one or more imagerconfigured to collect images of inside the oral cavity.

Potentially, tracking of toothbrush position using images of user bodyportion/s outside of the mouth enables optical tracking of thetoothbrush (in some embodiments, with respect to dental feature/s) whenportions of the toothbrush and/or mouth are obscured. For example, bythe toothbrush, by fluid (e.g. toothpaste, saliva) and/or user tissuee.g. cheeks, closing of the user's mouth around the toothbrush.

In some embodiments, the toothbrush includes at least one imagerconfigured to collect images including at least a portion of a user'sbody, outside the user's oral cavity. Where, in some embodiments, theimager is located on the toothbrush and/or has a field of view (FOV)suitable for collection of images of portion/s of the user's body e.g.when the toothbrush is in use e.g. when a head of the toothbrush iswithin the oral cavity. In some embodiments, the toothbrush includes oneor more imager configured to collect images of a user's face.

In some embodiments, one or more imager is configured to collect imagesof a reflection of the user. For example, where the imager is disposedon a distal end of the dental implement (where the proximal end of theimplement is inserted into the user's mouth).

In some embodiments, the dental implement (e.g. toothbrush) includes aplurality of imagers, a potential benefit being (e.g. when imagers arelocated on a toothbrush handle) the ability to image user body portionswhen portion/s of the handle are obscured by a user's hand and/or whenan orientation of the toothbrush changes during brushing. For example,in some orientations of the toothbrush during brushing one or moreimager may collect images lacking user body portion/s and/or may collectimages where user body portion/s have few identifiable landmarks. Forexample, when an imager is oriented in an inferior direction, in someembodiments, images include fewer identifiable landmarks e.g. chin, jawline as compared to when the imager is orientated in a superiordirection where, in some embodiments images include eye/s and/or noseand/or nostrils.

In some embodiments, user body portion/s are identified from capturedimages and a spatial relationship between the user body portion/s andthe dental implement is determined using the image/s and optionally, ananatomical model.

In some embodiments, only relative position and/or movement of thedental device is determined from image/s. Where, in some embodiments,the determined position is relative to one or more identified user bodyportion and, in some embodiments, the position and/or movement of thedental device is not determined with respect to dental features. In someembodiments, calibration measurements and/or an anatomical model areused to determine, from the images, the position of the dental devicewith respect to dental feature/s.

In some embodiments, a spatial relationship between landmarks (e.g. ofuser body portion/s) and the dental implement imager are determined fromcollected images. In some embodiments, position of other portion/s ofthe dental device (e.g. dental implement head within the user's mouth)are then inferred using known dimensions of the dental implement. Insome embodiments, one or more image includes the dental implement andthe spatial relationship is determined using an identified position ofthe dental implement and of the user body portion/s. In someembodiments, the dental implement includes one or more marking and/orlandmark which is identified in image/s.

In some embodiments, movement of the dental implement is tracked usingdetermined positions of the dental implement with respect to identifiedlandmarks (e.g. of user body portion/s). For example, in someembodiments, a landmark is identified in a series of images collectedover time where, in some embodiments, a position of the dental implementis estimated for each image, providing movement with time of the dentaldevice. In some embodiments, the landmark is a user body portion and/ora reflection of a user body portion. Alternatively or additionally, insome embodiments, the landmark is an object within a system FOV. Forexample, a marker within an FOV of an imager collecting the images e.g.a marker affixed to a wall of the room in which a user brushes teeth. Insome embodiments, multiple landmarks are identified in image/s.

In some embodiments, the images are collected by a dental implementimager and, in some embodiments, the position (and then, in someembodiments, e.g. using multiple images, movement) of the dentalimplement is determined a spatial relationship between the imager andthe landmark/s.

In some embodiments, tracked movement of the dental implement (e.g.using image/s and/or other tracking data e.g. position sensor e.g.accelerometer) is assessed. For example, to provide feedback.

For example, where positions (optionally correlated with other data e.g.sensor data, e.g. contact and/or pressure data) of the dental implementare compared to expected positions for adequate brushing e.g. to providefeedback.

For example, to assess whether basic brushing movements were performedand/or if particular attention was devoted to an indicated area and/orif a user is neglecting one or more area (e.g. due to discomfort).

In some embodiments, an identified position (e.g. of a body portion, alandmark, a dental device) is in 3D space, with respect to a position ofanother object (e.g. of a body portion, a landmark, a dental device). Insome embodiments, “position” and/or a “spatial relationship” is a vectordescribing the relative positions of two portions. In some embodiments,a position is a two dimensional distance between two portions.

In some embodiments, an angle of a user body portion and/or of thedental device is determined from image/s using known distances and/orratios (e.g. from an anatomic model and/or from known dimensions of thedental device).

In some embodiments, user body portion/s are directly imaged by theimager/s. Alternatively, or additionally, in some embodiments, areflection of body portion/s is imaged. For example, in someembodiments, a user brushes user teeth standing in front of a mirror anda toothbrush imager captures images of the user's reflection within themirror, potentially overcoming issues of obscuring of line of sight ofuser body portion/s and/or of the dental device.

In some embodiments, the anatomical model (e.g. anatomical calibrationmodel) is specific to a user, for example, in some embodiments, a userspecific anatomical model is generated using optical measurements withthe toothbrush. In some embodiments, the toothbrush head is removed andmeasurements for the anatomical model are collected using a calibrationhead. In some embodiments, the calibration head includes one or moremirror, potentially enabling (e.g. by changing the FOV of the imager)collection of optical measurements e.g. using toothbrush imager/sconfigured for (e.g. with FOV suitable for) collection of user bodyportion images.

In some embodiments, the anatomical model is generated using an intraoral scanner (IOS). In some embodiments, the IOS is scanned over dentalfeatures and generates a tooth model. In some embodiments, for example,during scanning the tooth model is extended to include body portionsoutside the oral cavity, e.g. using images of the body portion/scollected by one or more additional imager. In some embodiments, one ormore of the additional imager/s are coupled to the IOS. In someembodiments an external camera collects images of the body portion/s.

In some embodiments, images collected of inside the oral cavity are usedwith images collected outside the oral cavity in tracking of the dentalimplement. For example, in some embodiments, user body portion/s (e.g.facial feature/s) identified in images are used to determine movement ofand/or estimate position of the dental implement. For example, imagescollected from within the oral cavity are used to increase accuracy(e.g. to less than 5 mm, or less than 2 mm, or less than 1 mm, or lessthan 0.5 mm, or less than 0.1 mm accuracy) of tracking e.g. with respectto dental object/s e.g. teeth, for example, enabling estimation ofposition on and/or orientation of the dental implement with respect to atooth.

In some embodiments, facial features are identified in acquired imagesusing facial recognition technology/ies of the art, for example landmarkidentification.

In some embodiments, facial features are identified in acquired imagesusing one or more feature as disclosed in “3D Face Recognition UsingFace Feature Points Based on Parallel Stereo Vision”, from theInternational Journal of Digital Content Technology and its Applications4(1): 86-95, February 2010 which is herein incorporated by reference inits entirety.

In some embodiments, artificial intelligence is used to identify facialfeatures in acquired images. In some embodiments, stereo imaging and/ora RGB image, a neural network is trained to extract predefined 3Dfeatures. In some embodiments, a classical machine learning algorithm,e.g. Haar cascade, is used to extract features. In some embodiments, aclassical machine learning algorithm is trained to train and/or enhancethe neural networks. In some embodiments, additional color spaces suchas YCBCR and LAB are used to enhance detection quality. In someembodiments, generative adversarial networks are used to improvedetection robustness e.g. to one or more of noise, environmentalfactors, and deformations. In some embodiments, facial feature detectionis optimized to an individual using face recognition and/or goodfeatures to track algorithm. In some embodiments, certain features areselected from a range of available features, based on the ability torecognize the individual and/or track the facial movements.

In some embodiments, the system includes electromagnetic and/orultrasonic position tracking e.g. of the toothbrush. Where, in someembodiments, position sensor data is used in addition to optical datafor tracking position of the toothbrush.

In some embodiments, tooth tracking data (and/or toothbrush trackingdata) is used to evaluate brushing performance. In some embodiments,collected position data with respect to user dental features (e.g.teeth), for example, duration and/or direction and/or pressure ofbrushing is evaluated (e.g. by a processor). In some embodiments,feedback regarding brushing performance is provided, for example, isdisplayed to and/or may be accessed by the user (and/or otherindividual/s e.g. parent, care-giver) during brushing. For example, insome embodiments, a user is guided by feedback to brush portion/s of theuser's teeth e.g. instructions to the user to brush to the furthest backmolar/s of one or both jaws.

In some embodiments, display is on a system user interface (e.g. asdescribed elsewhere within this document) and/or the system (e.g. asystem processor) sends display information to an external device fordisplay for example, a portable electronic device e.g. cellphone, a TV,a computer monitor.

Alternatively or additionally, in some embodiments, feedback is providedto the user (and/or other individual e.g. parent, care-giver, dentalhealthcare practitioner) after brushing to guide and/or improvepotential performance. Where feedback includes, for example, which areashave not been brushed and/or have not been brushed for a sufficient timeand/or duration and/or at a correct pressure.

In some embodiments, tooth tracking data (and/or toothbrush trackingdata) is used to a provide status update and/or alert regarding brushingperformance and/or oral health to the user and/or to another individuale.g. parent, care-giver, dental healthcare practitioner.

In some embodiments, tooth tracking data is used to controlfunctionality of the toothbrush. For example, in some embodiments, oneor more actuator is controlled based on tracked position of thetoothbrush within the mouth e.g. brushing direction and/or speed beingtailored for different mouth portions, optionally where functionality istailored to an individual user. Where, for example, a dentalpractitioner enters and/or selects functionality e.g. for differentmouth portion/s into the system.

In some embodiments, a dental implement tracking system includes one ormore wearable element. For example, glasses to be worn by a user e.g.during tracking of the dental implement. In some embodiments, thewearable element e.g. glasses include one or more user interface, e.g.for display of information (e.g. brushing feedback) to a user.Alternatively or additionally, in some embodiments, the glasses includeone or more imager. Where imager/s are configured to capture images ofthe user and/or dental implement (e.g. directly and/or a reflectionimage in a mirror). Where, in some embodiments, the images are used totrack a position of the dental implement within the user's mouth (e.g.including one or more feature as described above and/or elsewhere inthis application).

An aspect of some embodiments of the invention relates to using datacollected by the system to assess and/or track one or more userparameter.

In some embodiments, collected data, for example, toothbrush trackingdata and/or images collected from within the oral cavity is used inassessment of one or more user parameter.

In some embodiments, collected data includes optical data (e.g. images)collected of user teeth under illumination by structured light. Forexample, including one or more feature as described and/or illustratedin U.S. Provisional Patent Application No. 62/662,558 filed 25 Apr.2018.

Where assessment, in some embodiments is where a single data set (e.g.from a single brushing session) is used, e.g. processed e.g. to providefeedback. Where tracking, in some embodiments, is where more than onedata set, e.g. from multiple brushing sessions e.g. over a plurality ofdays and/or weeks and/or moths is used, e.g. processed, e.g. to providefeedback.

In some embodiments, assessment and/or tracking is of a dentaltreatment. For example, of tooth whitening. Where, in some embodiments,images from inside the oral cavity are used to assess the effectivenessof a whitening treatment and/or longevity of a whitening treatment.Where, in some embodiments, images from inside the oral cavity andtracking data are used together to provide assessment and/or trackingfor different regions of the user's mouth.

In some embodiments, tracking and/or assessment is of movement(migration) or lack thereof of teeth within a user's mouth. Where, forexample, a measured spatial relationship between teeth (and/or otherdental objects e.g. prosthetics) and/or user body portion/s outside thebody are used to assess and/or track migration of the user's teethwithin the user's mouth.

In some embodiments, tooth brushing is used as a daily data measurementfor user health indicator/s. In some embodiments, user healthindicator/s are tracked using data collected from multiple brushingsessions, for example, in some embodiments, the data is analyzed toprovide information regarding change in time in the health indicator.Alternatively or additionally, in some embodiments, assessment of one ormore user health indicator uses data collected in a single day and/orbrushing session.

In some embodiments, images are collected of region/s not generallyobserved by a user, for example, underneath the tongue, e.g. of thethroat and/or tonsils e.g. to assess and/or track health indicator/s ofthese region/s.

In some embodiments, a health indicator is an extent of gum bleedinge.g. providing an indication as to gum and/or dental health and/orgeneral health. In some embodiments, bleeding is assessed using imagescollected from within the oral cavity, for example. For example, in someembodiments, bleeding is measured using quantity and/or intensity of redtones in collected images. In some embodiments, bleeding is measuredwith respect to applied pressure e.g. as measured using apparatus and/ortechniques described within this document (e.g. using one or morepressure sensor). In some embodiments, bleeding is assessed and/ortracked for different portions of the user's mouth.

In some embodiments, a health indicator is an extent of one or more ofdental decay, plaque, staining on the user's teeth e.g. affected areasand/or extent (e.g. depth of plaque layer, extent of decay).

In some embodiments, a user applies a plaque disclosing agent to theuser's mouth and then images are collected from within the oral cavitye.g. during and/or before and/or after brushing.

In some embodiments, color of user mouth portion/s e.g. gums, tongue,soft oral cavity tissue, teeth are a health indicator. For example,color indicators (e.g. in oral mucosa) and/or changes due to one or moreof bleeding, ulcers, abnormally white tissue (leukoplakia), blisters.

In some embodiments, color and/or extent of a color and/or areidentified. In some embodiments, color changes are detected and assessedto identify and/or provide an alert to a caregiver regarding likelihoodof leukemia, HIV, nicotine stomatitis, cancerous or pre-cancerouschanges.

In some embodiments, 3D deformations of the oral cavity (e.g. of softtissue) e.g. as measured using stereo imaging and/or structured lightdepth measurements are a health indicator. For example, where exemplaryidentified deformations include swelling (e.g. of oral mucosa e.g. oftonsils and/or throat), gum withdrawal, abnormal growth/s (e.g. as anindicator of tumor/s).

In some embodiments, blister/s are identified (e.g. from color and/or 3Ddeformation information) and/or size and/or shape of blisters aretracked. For example, to identify and/or monitor one or more of skindiseases, pemphigus vulgaris, mucous membrane pemphigoid, herpeticdiseases or other viral diseases e.g. herpetic gingivostomatitis.

In some embodiments, measurements are used in medical follow up,comprising tracking persistence and/or growth of abnormality/ies. Insome embodiments, measurements and/or evaluated measurements aretransferred to a dental and/or medical practitioner for examination.

In some embodiments, health indicator measurements are collectedseparately to brushing. For example, where image/s are collected usingthe dental device when the device lacks a toothbrush head and/or whenthe head is contacted to gums e.g. to measure gum health e.g. beforeand/or after brushing. For example, where toothpaste does not obstructcollected images.

In some embodiments, assessment and/or tracking is of condition of usermouth portion/s. Where, in some embodiments, measurement of opticalproperties of the mouth portion/s e.g. under different types of lightexposure (e.g. structured light) are used to assess and/or track one ormore of decay, plaque, stains, gum condition. For example, including oneor more feature as described and/or illustrated in U.S. ProvisionalPatent Application No. 62/662,558 filed 25 Apr. 2018.

Potentially, as a toothbrush in general is used often (e.g. daily)trends in brushing and/or user health are detected using changes overtime, even without accurate positioning data and/or color and/orcalibration.

Before explaining at least one embodiment of the invention in detail, itis to be understood that the invention is not necessarily limited in itsapplication to the details of construction and the arrangement of thecomponents and/or methods set forth in the following description and/orillustrated in the drawings and/or the Examples. The invention iscapable of other embodiments or of being practiced or carried out invarious ways.

Exemplary Embodiments

FIGS. 1A-B are simplified schematics of a toothbrush tracking system100, according to some embodiments of the invention.

In some embodiments, system 100, includes a dental device 102. In someembodiments, dental device 102 includes and/or is configured to beattached to a toothbrush head 104. In some embodiments, a body 103 ofdental device 102 includes one or more anchor configured to connect withan anchor disposed on toothbrush head 104. In some embodiments, anchorsinclude indentation/s and/or protrusion/s configured to (e.g. sizedand/or shaped to) connect with each other. In some embodiments, anchorsinclude indentation/s and/or protrusion/s configured to connect with aconnector. In some embodiments, toothbrush head 104 connects to body 103by one or more of snap connection, screw connection. In someembodiments, toothbrush head 104, is connected to a body 103 of thedental device 102, for example, by one or more connector 116, where, insome embodiments, connector 116 includes a protrusion which is sizedand/or shaped to fit into an indentation within toothbrush head 104.

Optionally, in some embodiments, dental device 102 includes one or moreactuator (not illustrated in FIG. 1) configured to move and/or vibrateat least a part of toothbrush head 104 e.g. to clean dental surfaces incontact with the toothbrush. In some embodiments, actuator/s move atleast a portion of toothbrush bristles 132 e.g. with respect to a base134 of toothbrush head 104.

In some embodiments, one or more actuator is configured to move one ormore imager and/or mirror of a dental device. For example, in someembodiments, a processor receiving tracking data, generates, based onthe data, control signals to send to actuator/s instructing movement ofimager/s (and/or mirror/s e.g. mirror 852 FIGS. 8A-B) of the dentaldevice. For example, to maintain user body portion/s within an imagerFOV.

In some embodiments, one or more actuator is configured to move one ormore imager to capture image/s of a volume around the imager and/ordental device. For example, of a volume of an oral cavity e.g. duringcalibration and/or collection of measurements for generation of ananatomical model. For example, to capture particular facial featuresand/or all facial features.

In some embodiments, the dental device includes one or more mirrorwhich, in some embodiments, directs and/or splits an FOV of one or moreimager. In some embodiments, mirror/s are configured to be moved by oneor more actuator, e.g. to change FOV of the imager/s.

In some embodiments, device body 103 includes a handle (e.g. is ahandle) sized and/or shaped to be comfortably grasped in a user's hande.g. in a palmar grasp. For example, in some embodiments, body 103 iselongate. In some embodiments, a length (e.g. central long axis length)of device body 103 is 5-30 cm or 10-20 cm or higher or lower long orintermediate lengths or ranges. In some embodiments, an average and/ormaximum width (where width is, in some embodiments, measuredperpendicular to the central long axis of the body) and/or diameter ofdevice body 103 is 0.5-10 cm or 1-5 cm or higher or lower long orintermediate widths or ranges.

In some embodiments, dental device 102 includes at least one imager 106with a field of view (FOV) 108. In some embodiments, imager 106 isconfigured such that (e.g. imager is positioned on device 102) so thatFOV 108 extends away from a center of device 102.

In some embodiments, at least a portion of toothbrush 102, (e.g. atleast a portion of toothbrush head 104) is within FOV 108.

In some embodiments, imager 106 is configured such that at least oneuser body part, outside the oral cavity is within the FOV. For example,for at least a portion of possible toothbrush head 104 positions withinoral cavity 124 e.g. during brushing.

In some embodiments, at least a portion of the user's face 136 is withinthe FOV. For example, at least a portion of the user's head, at leastone facial feature or a portion of at least one facial feature (e.g.facial topography, nose, nostril, eye, ear, chin, jaw line, facialmarking/s e.g. birthmark, tattoo, freckle, mole, scar) is within theFOV. FIG. 1A illustrates system 100 when the user's mouth is open, forexample, where at least a portion of the toothbrush head and/or userdental feature/s are within FOV 108 and when portion/s of the user/sface are within the FOV.

Where, for example, in some embodiments, imager is configured bypositioning on device 102 and/or sizing and/or shaping of the FOV. Insome embodiments, imager FOV 108 doesn't include portion/s of the oralcavity (e.g. when the imager is disposed on a distal portion of thedental device 102, e.g. as described and/or illustrated regardingimagers 418, 422 FIGS. 4-5).

In some embodiments, imager FOV 108 doesn't includes portion/s of theoral cavity when the portion/s are obscured. For example, in someembodiments, user/s oral cavity and/or the toothbrush head is obscuredfrom view of imager/s. For example, as illustrated in FIG. 1B whereuser's 128 mouth is closed over the toothbrush head, imager 106, thencollecting images of portion/s of the user's body (e.g. face) outsidethe user's oral cavity. For example, when the user's mouth is closed.

In some embodiments, imager 106 includes a visible wavelength opticalimager. Alternatively or additionally, in some embodiments, imager 106includes an infrared imager. In some embodiments, device 102 includesone or more light projector, for example to illuminate portion/s of theuser for image collection. In some embodiments, a light projectorprojects patterned light e.g. as described regarding projectors 542,546, FIG. 5.

In some embodiments, imager 106 includes one or more heating element,for example, to prevent and/or reduce condensation.

In some embodiments, imager 106 is connected (e.g. by one or more wireand/or wirelessly) to one or more processor 110. Where, in someembodiments, imager 106 sends collected image data and/or receivescontrol instruction/s from processor 110. In some embodiments, processoris connected to a memory 112. In some embodiments, processor isconnected to one or more user interface 114, where, in some embodiments,processor sends data for communication (e.g. display) to a user by userinterface 114 and/or receives user input signal/s from user interface114.

In some embodiments, one or more of processor 110, memory 112 and userinterface 114 are housed within device 102 e.g. within device body 103.Alternatively, or additionally (additionally where the system includesmore than one processor and/or memory and/or user interface) one or moreof processor 110, memory 112 and user interface 114 are external todevice 102. For example, in some embodiments, an external user interfacee.g. a display, displays information to the user e.g. including one ormore feature as described and/or illustrated regarding display 414 FIG.4.

In some embodiments, the system includes an external user interfaceand/or a display is a mobile phone and/or a tablet. In some embodiments,processor 110 and or memory 112 are located remotely in the “cloud”.

In some embodiments, dental device 102 includes one or more power sourcewhich provides power to one or more of toothbrush actuator/s, imager106, memory 112, user interface 114, processor 110.

Optionally, in some embodiments, system 100 includes one or more imager190 which is external to the dental device. For example, where imager190 is configured to collect images of the user and/or dental devicee.g. locating the dental device and/or user e.g. the dental device withrespect to one or more portion of the user, for example, according toone or more feature described and/or illustrated by art cited in thebackground section of this document.

In some embodiments, external imager 190 is mounted to a wall and/ormirror. In some embodiments, the external imager has a data connectionto one or more of user interface 114, memory 112, processor 110 e.g.sending data to and/or receiving commands from processor 110. In someembodiments, a position of the dental device is tracked using imagescollected by external imager e.g. with respect to one or more user bodyportion (e.g. facial feature). In some embodiments, position of one ormore user body portion is tracked in images collected using the externalcamera e.g. facial feature/s. In some embodiments, the dental device isnot tracked, a position of the dental device not being determined and/orextracted from one or more (e.g. all) collected image/s.

In some embodiments, system 100 includes one or more sensor 199. In someembodiments, sensor 199 is part of dental device 102. In someembodiments, sensor 199 sends data to and/or receives controlinstructions from processor 110.

In some embodiments, sensor 199 includes one or more position sensorand/or one or more contact and/or pressure sensor (e.g. as describedelsewhere in this document).

FIG. 2 is a flowchart of a method of dental device tracking, accordingto some embodiments of the invention.

At 200, in some embodiments, one or more image including user bodyportion/s outside the oral cavity is acquired. In some embodiments, theimage/s are acquired using a dental device imager. Additionally oralternatively, in some embodiments, image/s are collected by one or moreexternal imager e.g. including one or more feature as described and/orillustrated regarding imager 190, FIGS. 1A-B.

In some embodiments, the dental device is a toothbrush (e.g. includingone or more feature as described and/or illustrated regarding one ormore of FIGS. 1A-B, 3-5, 7A-C, 10, 11).

In some embodiments, image/s are collected during use of the dentaldevice, for example, tooth brushing with the toothbrush.

In some embodiments, one or more image includes at least a portion of auser's body outside of the oral cavity. For example, in someembodiments, one or more image includes at least a portion of the user'sface. In some embodiments, one or more image includes at least a portionof the dental device. In some embodiments, one or more single imageincludes both at least a portion of the user's body and at least aportion of the dental device. In some embodiments, an image includes areflection e.g. as described regarding reflection 430, FIG. 4.

In some embodiments, for one or more acquired image:

At 202, in some embodiments, one or more user body portion is identifiedin the acquired image. For example, in some embodiments, one or moreanatomical landmark (e.g. facial landmark) is identified. In someembodiments, one or more angle between landmarks and/or distance betweenidentified landmarks is determined.

Alternatively or additionally, in some embodiments, tracking of thedental device includes template based identification e.g. of one or morebody portion and/or of the dental device. Where, for example, in someembodiments, a template (e.g. facial template) is aligned with the image(e.g. of at least a portion of the user's face), providing a positionand/or orientation of user body parts (e.g. of the face) in the image,for example, with respect to the imager and/or dental device.

In some embodiments, a template includes a landmark map for one or morefacial feature, where the landmark map is distorted and/or orientated tofit an individual user and/or user posture.

In some embodiments, different techniques are used for differentorientations of the dental device. For example, when a user is brushingupper teeth, an imager disposed on the bristle side of the toothbrushpotentially views more facial features (e.g. eyes, nose, ears) than thesame imager when a user is brushing lower jaw teeth. Furthermore, lowerjaw teeth may move more with respect to one or more facial feature (e.g.eye/s, nose) due to movement of the user's jaw.

In some embodiments, different imagers are used for differentorientations of the dental device. For example, a first imager imagingupper face portions during brushing of lower teeth and a second imagerimaging upper face portions during brushing of upper teeth.

Alternatively or additionally, in some embodiments, different landmarksare identified in images for different orientations of the dental devicee.g. in some embodiments, facial landmarks are extracted from the upperface when brushing upper jaw teeth and from the lower face (e.g. chinlandmark/s) when brushing lower jaw teeth.

In some embodiments, a user's face includes more than one landmark. Forexample, in some embodiments, landmarks include one or more of a chinoutline, distance/s between region/s of the lips and the chin, alocation and/or shape of a chin dimple and/or other spatial metric/scorrelated with the mandibular bone structure and/or fleshy areas of theface.

In some embodiments, a single facial feature includes a plurality oflandmarks. Where in some embodiments, the plurality of landmarks are fitto image/s collected of the facial feature. For example, in someembodiments, an eyebrow contour includes several landmarks to describean arc of the eyebrow.

In some embodiments, identification of user body portion characteristics(e.g. 3D characteristics e.g. of the lower jaw) includes detection oflandmark/s in 2D and/or 3D and/or using color.

Optionally, in some embodiments, at least a portion of the dental deviceis identified in the acquired image. For example, in some embodiments,the dental device includes one or more marking which is identified inimage/s. In some embodiments, the dental device includes more than onemarking and/or landmark where, in some embodiments, an angle of thedental device in space is derived from relative position betweenrecognized markings (and/or landmarks).

In some embodiments, an angle of the dental device, relative to userbody portion/s e.g. facial feature/s is identified from image/s. In someembodiments, an angle of a mirror with respect to a user (e.g. a user'sface) is identified from image/s, e.g. from image/s of a reflection inthe mirror.

In some embodiments, a position of one or more part of the dental deviceis inferred from image/s collected by dental device imager/s, withoutidentifying the dental device from image/s (for example, where image/sdo not include the dental device). In some embodiments, a dental deviceimager acquiring image/s is in a known position on the dental deviceand/or dental device dimension/s are known, for example, enablingidentification of position of portion/s of the dental device from imagescollected by device imager/s.

In some embodiments, a determined position of one or more facial feature(e.g. of the nostrils) is used to determine position of the teeth. Insome embodiments determining of position, includes using a 3D rotationalmatrix for a facial portion which has been estimated for another facialportion. For example, in some embodiments, determined rotation of afirst landmark and/or set of landmarks (e.g. user nose) is used todetermine rotation of a second body portion and/or landmark and/or setof landmarks (e.g. the upper jaw).

In some embodiments, a weight of a landmark and/or set of landmarks(e.g. associated with a single facial feature e.g. eye) is based onmeasured visibility of the landmark and/or set of landmarks. Forexample, in some embodiments, nostrils are weighted higher indetermining position/s, for example, when the nostrils have a highintensity contrast and are used in determining position/s in lowillumination and/or a foggy environment.

Optionally, at 203, in some embodiments, a facial configuration and/orfacial distortion is identified. For example, in some embodiments, a jawconfiguration is identified, e.g. an extent to which the jaw is opene.g. a position of the mandible e.g. the mandibular angle relative tothe upper jaw e.g. with respect to the skull and/or upper jaw.

For example, in some embodiments, a jaw configuration is identifiedusing relative position between two or more landmarks e.g. a position ofa portion of the mandible with respect to one or more upper portion ofthe face e.g. maxilla, nose, eye. For example, in some embodiments, ajaw configuration is estimated by measuring a distance between upper andlower teeth, e.g. from one or more image including both at least oneupper jaw tooth portion and at least one lower jaw tooth portion.

In some embodiments, a general anatomical model (e.g. not an individualanatomical model) is fitted to measurements extracted from an image todetermine jaw configuration.

In some embodiments, a jaw configuration is estimated using a locationof the toothbrush head and/or bristles when touching the lower jaw(mandible) e.g. touching lower jaw teeth, relative to a position of theupper jaw (e.g. the skull, e.g. determined using image/s) and using aknown possible 3D relationship between the two jaws according to thetemporomandibular joints (TMJ).

At 204, in some embodiments, a spatial relationship between theidentified body portion/s and toothbrush are determined.

In some embodiments, a spatial relationship between the identified userbody portion/s and the toothbrush is determined using the acquiredimage.

In some embodiments, the spatial relationship is determined fromacquired image/s (which in some embodiments do not include a portion ofthe toothbrush) using Simultaneous Localization And Mapping (SLAM)technique/s. In some embodiments, the spatial relationship is determinedusing an identified position of the toothbrush and the identified bodyportion/s in the acquired image. In some embodiments, other landmarksare used as markers for determining spatial relationships from images,for example, stationary landmarks in a scene around the user.

In some embodiments, an identified position of a template (e.g. facialtemplate) with respect to the dental device is used to determine theposition of the toothbrush.

Alternatively or additionally, in some embodiments, the spatialrelationship is determined from acquired image/s of body portion/silluminated with patterned light. Where, in some embodiments,illumination is provided by a projector coupled to and/or mounted onand/or at least partially within the toothbrush e.g. as described and/orillustrated in FIG. 5. For example, as mentioned elsewhere in thisdocument, in some embodiments, illumination is using visible lightand/or non-visible light (e.g. infrared). In some embodiments, depthinformation of the illuminated user portion/s is inferred from changesto the projected light pattern observed in acquired images.

Additionally or alternatively, in some embodiments, the spatialrelationship is determined using an anatomical model includingidentified user body portion/s where, for example, appearance of theidentified body portion/s in the acquired image enables a position ofthe imager (e.g. and then of other portion/s of the toothbrush, if thetoothbrush imager location is known) to be inferred from collectedimages and the anatomical map.

In some embodiments, the user body portion/s include portion/s of theface and/or head. Where, for example, recognized landmarks include ashape of user's head, an outer contour of a portion of the user's body,one or more facial feature e.g. facial topography, nose, nostril, eye,ear, chin, jaw line, facial marking/s e.g. birthmark, tattoo, freckle,mole, scar.

In some embodiments, the anatomical model is a model stored in a memory(e.g. memory 112 FIG. 1). In some embodiments the model is based onstandard and/or average human anatomy and/or anatomical spatialrelationships and/or ratios.

In some embodiments, the anatomical model is selected from a pluralityof models stored in a memory. For example, where a model is selectedform the plurality of models for a particular user. For example, modelsincluding standard and/or average human anatomy and/or anatomicalspatial relationships and/or ratios for a range of user parameters, forexample, including one or more of user sex, user age (e.g. child/adult),one or more user measurement (e.g. height, weight). In some embodiments,a standard anatomical model saved in a memory is adjusted based on oneor more user parameter. In some embodiments, user parameter/s areentered into the system through a user interface.

In some embodiments, the anatomical model is based on imaging data of auser. Where, in some embodiments, the system receives imaging data froman external source (e.g. intraoral scanner (IOS) and/or x-ray, MRI, CT,ultrasound) and generates the anatomical model from the imaging data. Insome embodiments, the system receives an anatomical model based onimaging data from an external source.

In some embodiments, the anatomical model is generated usingmeasurements collected by the dental device. For example, wheremeasurements include images collected during brushing with thetoothbrush and/or during scanning using the toothbrush and/or using acalibration head affixed to the body of the dental device (e.g. asdescribed and/or illustrated regarding FIG. 6 and/or FIGS. 7A-C).

In an exemplary embodiment, a model (e.g. 3D model) of user dentalfeatures is generated using an IOS e.g. in a dental clinic. In someembodiments, the IOS includes one or more additional imager configuredto measure patient body portion/s external to the oral cavity, e.g.facial feature/s. In some embodiments, the additional imager/s arelocated on the IOS in a similar spatial relationship to imager/s on thedental device. In some embodiments, e.g. during scanning of dentalfeatures by the IOS, the additional imager/s collect patient bodyportion images. In some embodiments, the dental feature model isaugmented with patient body portion location/s. Optionally, fordifferent facial configurations of the patient's body. In someembodiments, this augmented model is sent to the dental tracking system(e.g. system 100 FIG. 1) e.g. via the cloud and/or by an app e.g. hostedby a user's electronic device (e.g. phone). In some embodiments, theaugmented model forms the anatomical model used in dental devicetracking (e.g. as described above).

A potential advantage of using the IOS to generate an anatomical modelis high accuracy of IOS scanning technology for dental features. Afurther potential advantage of providing an anatomical model to thedental device tracking system, meaning that the system (e.g. system 100,FIG. 1) does not need to have the processing capability for generatingan anatomical model (e.g. 3D anatomical model) and/or dental deviceimagers have lower resolution requirements.

In some embodiments, a model includes frequently used postures (storedand/or individual to a user e.g. generated from previously collectedmeasurements). For example, in some embodiments, a first estimate of oneor more measurement is based on stored model parameter/s e.g. a frequentdegree of opening of a user's mouth during brushing and/or a frequentangle of the toothbrush with respect to other landmark/s and/ordimension/s e.g. degree of opening of the user's mouth.

At 206, in some embodiments, a location of at least a portion of thedental device, with respect to one or more dental feature, isdetermined.

In some embodiments, a body portion identified in a collected image isidentified in an anatomical model including one or more dental feature.

In some embodiments, the previously determined spatial relationshipbetween the body portion and the toothbrush is then used to find aspatial relationship between the toothbrush and the one or more dentalfeature. Where, in some embodiments, exemplary anatomical models are asdescribed regarding step 204.

In some embodiments, when an anatomical model is used to identify thetoothbrush location with respect to identified user body portion/s, thesame anatomical model is used to determine the location of thetoothbrush with respect to the one or more dental feature.Alternatively, or additionally, a second (different) anatomical model isused.

In some embodiments, a dental tracking system (e.g. system 100 FIG. 1)stores a different anatomical map for each user. In some embodiments,the system recognizes a user by one or more of receiving a user inputthrough a user interface, recognizing a user identifier on an individualtoothbrush attachment which a user attaches to the device beforebrushing, identifying a particular user from images of the usercollected by the device e.g. using facial recognition.

In some embodiments, a plurality of images are collected using thetoothbrush, for example, during brushing.

In some embodiments, tracking of the toothbrush with respect to dentalfeature/s is using data from different imagers at different times and/orlocation/s of the toothbrush, potentially reducing processingrequirements. For example, where, in some embodiments, data is not usedand/or images are not collected from obscured imager/s (e.g. by theuser's hand). For example, where in some embodiments, imager data isselected and/or imager/s are selected, based on an orientation of thetoothbrush and/or a position of the toothbrush in the user's mouth.Where orientation and/or position is measured using previously collectedimages and/or using one or more sensor signal e.g. in some embodiments,the dental implement includes one or more accelerometer and/orgyroscope, where accelerometer and/or gyroscope signal/s, for example,provide orientation data.

In some embodiments, toothbrush tracking with respect to dentalfeature/s is determined from images collected of the toothbrush and/orthe dental feature/s (e.g. images showing contact between the toothbrushand dental features. In some embodiments, imaging of body portion/soutside the oral cavity is used when the toothbrush and/or oral cavityis obscured and/or when the accuracy of tracking of the toothbrush usingimaging inside the oral cavity is insufficient (e.g. falls below athreshold).

In some embodiments, collected images are securely stored, for example,in a memory e.g. to protect user privacy. In some embodiments, imagesare not directly stored. For example, in some embodiments, landmarksand/or other data associated with image/s are saved.

FIG. 3 is a simplified schematic of a toothbrush 302 including aplurality of imagers 306, 318, 322, 392, 393, 319, according to someembodiments of the invention.

In some embodiments, toothbrush 302 includes a head portion 304 and abody portion 303 which are, in some embodiments connected (e.g. asdescribed regarding toothbrush 102, FIG. 1) e.g. by a connector 316.

In some embodiments, toothbrush 302 is part of a system 300. Where, insome embodiments, system 300 includes one or more of a user interface314, a memory 312, a processor 310. In some embodiments, one or more ofuser interface 314, a memory 312, a processor 310 are part of toothbrush302. In some embodiments, one or more of imagers 306, 318, 319, 322,392, 393 includes a data connection 340 to processor 310.

In some embodiments, toothbrush 302 includes one or more oral cavityimager 306 which is configured (for example, positioned and/ororientated and/or with suitable FOV) for imaging dental features withina user's oral cavity, e.g. when the toothbrush is in use. Optionally, insome embodiments, oral cavity imager 306 is also configured to collectimages of portion/s of a user's body outside the oral cavity, e.g. asillustrated and/or described regarding FIG. 1.

In some embodiments, toothbrush 302 includes one or more user imager 318which is configured (for example, positioned and/or orientated and/orwith suitable FOV) for direct imaging of body portion/s of the useroutside the user's oral cavity. In some embodiments, user imager 318 isconfigured to collect images of the user's face and/or head.

In some embodiments, toothbrush 302 includes one or more reflectionimager 322, 319 which is configured (for example, positioned and/ororientated and/or with suitable FOV) for imaging a reflection of theuser using toothbrush 302. In some embodiments, a reflection imager 322is disposed at a distal portion (e.g. end) of toothbrush 322 (e.g. ofhandle 303), where toothbrush head 304, in some embodiments, forms aproximal portion of the toothbrush. In some embodiments, a reflectionimager 322 is located on a side of handle 303.

In some embodiments, toothbrush 302 includes only one of imagers 306,318, 322, or only two of the imagers. For example, in some embodiments,the toothbrush only includes imager 318, or only includes imager 322, oronly includes imagers 318, 322, the imagers generally not collectingimages of the oral cavity.

In some embodiments, toothbrush 302 includes more than 3 imagers, forexample, 3-10 imagers, e.g. as illustrated in FIGS. 7A-C.

A potential benefit of more than one imager, and/or of a larger numberof imagers, is the ability to collect images of user body portion/s(e.g. of user facial feature/s) during (e.g.

throughout) brushing. Where, for example, during brushing of differentteeth, a user changes grasp of the toothbrush handle and/or orientationof the toothbrush with respect to the user's face, potentially coveringdifferent portion/s of the toothbrush handle with the user's hand and/ororientating different portions of the handle away from the user and/orthe user's face.

In some embodiments, two or more imagers have overlapping FOVs,potentially enabling imaging of facial feature/s, e.g. the nostrilsand/or enabling collection of 3D imaging of the facial feature/s.

In some embodiments, an imager, for example a 3D imager, (e.g. activestereo and/or time of flight) has a field of view which images facialfeature/s, e.g. the nostrils. In some embodiments, facial feature/s(e.g. nostrils) are used for identifying the 3D location and/ororientation of the dental implement (e.g. toothbrush). In someembodiments, toothbrush 302 includes data connection/s 340 to aprocessor 310. In some embodiments, imagers 306, 318, 322 are connectedto processor 310, for example, sending image data to and/or receivingcommand signals from processor 310.

Optionally, in some embodiments, toothbrush 302 includes an imager 392located on (e.g. mounted on e.g. attached to) the dental device head304. In some embodiments, imager 392 is located on a portion of base 334lacking bristles.

Optionally, in some embodiments, toothbrush 302 includes an imager 393located on (e.g. mounted on and/or attached to) a neck 360 oftoothbrush.

In some embodiments, imager 392 and/or imager 393 are configured (e.g.has FOV suitable for) acquisition of images from inside the oral cavity.For example, when the toothbrush head is within the oral cavity e.g.before during brushing.

In some embodiments, optical data collected includes images from insidethe oral cavity. In some embodiments, image/s from inside the oralcavity are used to provide feedback (e.g. to a user) additionally oralternatively to other system tracking data and/or acquired image/s.

In some embodiments, image processing (e.g. performed by a processore.g. processor 310) is performed on image/s acquired from inside theoral cavity, e.g. to identify portions of debris within the mouth (e.g.food caught between teeth). In some embodiments, feedback includesguidance as to cleaning the teeth, guidance, for example, including oneor more of position of portion/s to be cleaned and/or a tool to be usede.g. the toothbrush and/or another dental tool (e.g. dental floss).

In some embodiments, imager 392 and/or imager 393 are configured to viewteeth while brushing, i.e. the FOV/s of one or more of the imager/s aredirected towards the teeth during brushing, for example, towards a mouthregion which is being brushed (e.g. imager 392) and/or towards otherteeth (e.g. imager 393).

In some embodiments, imager 392 is orientated in an opposite directionto a general direction of extension of bristles and/or in a directionconfigured so that imager 392 collects images of dental structures in anopposing jaw to the jaw being brushed and/or an opposing portion of ajaw being brushed. For example, in some embodiments, when bristles 332are brushing a top surface of teeth in a user's lower jaw, imagercollects images of teeth in the upper jaw. For example, in someembodiments, when bristles 332 are brushing an inner jaw portion imagercollects images of teeth in an opposite side of the jaw.

FIG. 4 is a simplified schematic of a user 424 using a toothbrush 402tracking system 400, according to some embodiments of the invention.

In some embodiments, user 424 is positioned in front of a mirror 426 anda reflection 430 of user 424 is reflected by mirror 426. Potentially,acquiring reflection images enables collection of image/s of the userand/or dental device when a line of sight of imager/s to the user and/ordental device is obscured.

In some embodiments, mirror 426 includes one or more heating element,for example, to prevent and/or reduce obscuring of the mirror surface(e.g. of the user's reflection) by condensation.

In some embodiments, toothbrush 402 includes one or more of an oralcavity imager 406, a user imager 418, a reflection imager 422 (e.g.including one or more feature as illustrated and/or described regardingoral cavity imager 306, a user imager 318, a reflection imager 322 FIG.3).

In some embodiments, FIG. 4 illustrates exemplary FOVs of the imagers.

Where, for example, FOV 408 of oral cavity imager 406 is configured toimage oral cavity areas when the toothbrush is being used. In someembodiments, a FOV angle θ1 (e.g. aperture of cone-shaped FOV) of oralcavity imager 406 is 0-180°, or 30-90°, or about 60°, or lower or higheror intermediate angles or ranges.

Where, for example, FOV 420 of user imager 418 is configured to imageuser body portions, e.g. user facial portion/s, e.g. the entire userface, when the toothbrush is being used. In some embodiments, a FOVangle θ2 (e.g. aperture of cone-shaped FOV) of user imager 418 is30-180°, or 60-150°, or about 120°, or lower or higher or intermediateangles or ranges.

In some embodiments, one or more imager has FOV of 180°, for example, insome embodiments, the toothbrush has two imagers each with FOV of 180°.In some embodiments, one or more imager has FOV of 180-360°.

Where, for example, FOV 408 of reflection imager 422 is configured toimage a reflection 430 of user 424 when the toothbrush is being used. Insome embodiments, a FOV angle θ3 (e.g. aperture of cone-shaped FOV) ofreflection imager 422 is 30-180°, or 60-150°, or about 120°, or lower orhigher or intermediate angles or ranges.

In some embodiments, system 400 includes one or more user interface 414which, in some embodiments, communicates information (e.g. feedback e.g.on brushing performance) to user 424.

In some embodiments, user interface/s 414 communicate wirelessly with aprocessor (e.g. processor 110 FIG. 1), for example, receiving controlsignals instructing information to be displayed. In some embodiments,alternatively or additionally, a user interface (e.g. display), which,in some embodiments, is used to communicate feedback to a user, ismounted on toothbrush 402.

In some embodiments, user interface/s 414 include a screen whichdisplays visual information to a user. For example, in some embodiments,user interface display 414 is attached to and/or near mirror 426. Insome embodiments, user interface 414 includes one or more projector,where, for example, in some embodiments, the projector projects visualinformation onto a surface 426 and/or onto a surface within a user'sfield of view (FOV) when the user is brushing using mirror 426.

In some embodiments, user interface/s 414 include one or more speaker,for example, to provide audio instructions and/or feedback to a user.

In some embodiments, system 400 includes one or more base 454.

In some embodiments, 454 includes a charging port including contacts forcharging toothbrush 402. Alternatively or additionally, in someembodiments, 454 includes one or more user interface. For example, oneor more of a display, one or more speaker. In some embodiments, baseand/or electronic component/s of base are water-sealed.

In some embodiments, feedback 428 regarding brushing performance and/orinstructions to the user are displayed to a user by display/s 414, 454.

In some embodiments, base 454 includes a user interface which providesfeedback to the user. For example, in some embodiments, base 454includes a representation of user jaw/s and/or teeth where, once aportion of the user's mouth has been sufficiently brushed, an indicationis displayed on the representation for that portion of the user's mouth.

In some embodiments, the indication displayed on the representationincludes one or more of increase in light intensity, decrease in lightintensity, change in color. For example, in some embodiments, therepresentation changes color for a tooth and/or tooth portion once thetooth is brushed e.g. changing (in some embodiments, gradually) from afirst color (e.g. red) to a second color (e.g. cyan) when the toothand/or tooth portion is clean.

In some embodiments, the representation is a screen display e.g. of ajaw and/or mouth and/or teeth. Alternatively or additionally, in someembodiments, the representation is a physical model (e.g. moldedplastic) of the mouth and/or teeth where, for example, sufficientlybrushed regions are illuminated e.g. by one or more light source (e.g.LED) within the physical model. Alternatively or additionally, in someembodiments, a user interface communicates with a user (e.g. feedback)through non-visual cues for example aural (e.g. speech and/or noiseand/or sound cues) and/or motion cues (e.g. vibration of a portion ofthe dental device e.g. haptic feedback). For example, in someembodiments, an external user interface (e.g. toothbrush base, displayon a mirror, portable electronic device, earphones) and/or toothbrushuser interface produces sound feedback and/or vibration feedback to auser.

In some embodiments, display 414 is an electronic device display (e.g.cell phone display, and/or tablet display and/or computer display) wherethe electronic device includes software (e.g. installed by downloadingan “app”) configured to receive control signals from a system processorand to communicate information (e.g. visually, and/or aurally (display414 in some embodiments, includes one or more speaker), and/or bymotion) based on the control signals.

In some embodiments, system 400 includes one or more wearable element480. In some embodiments, a wearable element is a pair of glasses 480,where in some embodiments system 400 and/or glasses 480 include one ormore feature as described regarding and/or illustrated system 1300and/or glasses 1380, FIG. 13.

In some embodiments, system 400 includes one or more position sensor.For example, in some embodiments, dental implement 402 includes one ormore position sensor e.g. one or more electromagnetic tracker. Where,for example, measurement of position of the dental implement is withrespect to one or more other system electromagnetic tracker e.g. of oneor both of glasses 480 and holder 454. In some embodiments, thetoothbrush tracker is an electromagnetic sensor and the other tracker/sare electromagnet/s. In some embodiments, the toothbrush tracker is anelectromagnet and the other tracker/s are electromagnetic sensor/s. insome embodiments, tracker/s send position data to a processor (e.g.processor 110). A potential advantage of a tracker in a wearableelement, where the element is worn on the head is that relative movementbetween the wearable element tracker and dental feature/s is reduced.

In some embodiments, tracking includes one or more feature asillustrated and/or described in International Patent Application No.PCT/IL2018/050730 filed 4 Jul. 2018, which is herein incorporated byreference in its entirety.

FIG. 5 is a simplified schematic of a toothbrush 502 including one ormore light projector 542, 546, according to some embodiments of theinvention.

In some embodiments, one or more of light projectors 542, 546 includesone or more light, for example, to illuminate region/s for collection ofimages. Alternatively or additionally, in some embodiments, one or moreof light projectors 542, 546 is configured to project patterned light.In some embodiments, projected light is visible.

Alternatively or additionally, in some embodiments, projected light isoutside the visible spectrum, e.g. is infrared (where e.g. one or moreimager 506, 518 includes infrared imaging sensor/s e.g. Near infrared(NIR) imaging sensor/s). A potential benefit of using non-visible lightprojection is user comfort, where the user is not able to detect theprojected light.

In some embodiments, toothbrush 502 includes one or more imager and oneor more projector. In some embodiments, an imager is disposed adjacentand/or in sufficiently close proximity to a projector that most (e.g.60-100%, or 90-100%, or at least 90% or at least 99%, or lower or higheror intermediate ranges or percentages of) regions in the FOV of theimager are illuminated by the projector (e.g. with patterned light). Insome embodiments, imager/s 506, 518 are configured to collect images ofa user's reflection e.g. of light (e.g. directly and/or in a mirror)associated with projector/s 542, 546.

In some embodiments, projector 542 and imager 506 are configured forimage acquisition in the intraoral cavity and, in some embodiments, usevisible light pattern projection and/or sensing. In some embodiments,projector 536 and imager 528 are configured for image acquisition offacial feature/s and, in some embodiments, use infrared light patternprojection and/or sensing.

Potential benefit/s being that visible light pattern projection andimage acquisition provides good contrast for tooth measurement and/orthat the infrared projector does not dazzle and/or irritate the userwhen light is projected onto user facial feature/s.

In some embodiments, toothbrush 502 is part of a system 500 which, insome embodiments, includes one or more of a user interface 514, a memory512, a processor 510. In some embodiments, one or more of user interface514, a memory 512, a processor 510 are part of toothbrush 502.

FIG. 6 is a flow chart of a method of generating an anatomical modelusing a dental device, according to some embodiments of the invention.

At, 600, in some embodiments, a dental device (e.g. dental device 102FIG. 1) is moved around inside a user's images including user bodyportion/s external to the oral cavity are collected by one or moreimager of the dental device. Optionally, in some embodiments, imagesincluding the user's oral cavity are collected.

Alternatively or additionally, in some embodiments, other measurement/sof the oral cavity are collected, for example where dental feature/s aremeasured using contact data e.g. collected by one or more pressuresensor of the dental device e.g. collected by measuring deflection of aflexible neck of the toothbrush. In some embodiments, deflection of thetoothbrush neck is measured using one or more strain gauge which ismounted on and/or part of the toothbrush neck.

Alternatively or additionally, in some embodiments, deflection ismeasured optically e.g. using one or more imager (e.g. of thetoothbrush). For example, in some embodiments, deflection of a flexibleneck of the toothbrush is measured optically, for example, by an imagerof the toothbrush which has a FOV which includes the toothbrush neck.

In some embodiments, contact and/or a level of contact between thetoothbrush bristles and user mouth portion/s (e.g. teeth) is determinedusing measurement of toothbrush bristle deflection. In some embodiments,bristle deflection is measured, optically, for example, by an imager ofthe toothbrush which has a FOV which includes the toothbrush bristles.

In some embodiments, contact impedance measurement/s are collected.

At 602, in some embodiments, user anatomy is identified from collectedimages, and identified user anatomy location data is combined. Forexample, to generate an anatomical model including user oral cavityand/or dental features and user body portion/s external to the oralcavity (e.g. including facial features).

In some embodiments, images of user body portion/s include images of auser reflection.

In some embodiments, pattern projection (e.g. as described elsewhere inthis document) is used to collect depth measurements. In someembodiments, infrared pattern projection and imagers are used.

In some embodiments, images for generation of an anatomical model arecollected by scanning the user's mouth with a dental device connected toa calibration head (e.g. including one or more feature as describedand/or illustrated regarding FIGS. 7A-C and/or FIGS. 8A-B).

In some embodiments, the anatomical model is generated from collectedimage measurements. In some embodiments, a pre-existing model (e.g.including user inputted data and/or imaging data) is adjusted and/oraugmented using measurements e.g. which in some embodiments arecollected with a calibration head.

In some embodiments, an anatomic model is generated once e.g. during thefirst use of the toothbrush and/or during use of a calibration head. Insome embodiments, the anatomical model is refreshed e.g. continuallye.g. with each brush and/or periodically e.g. once a month. For example,in some embodiments, a user periodically is instructed to brush withouttoothpaste while measurements for a new and/or corrected anatomicalmodel are collected. For example, where a user is periodicallyinstructed to perform calibration with the dental device (e.g. with thetoothbrush with a calibration head attached).

FIG. 7A is a simplified schematic of a dental device 702, according tosome embodiments of the invention.

FIG. 7B is a simplified schematic of a dental device 702 including atoothbrush attachment 704, according to some embodiments of theinvention.

In some embodiments, dental device 702 includes one or more anchor 116configured to attach the device to one or more head (e.g. where theanchor and/or attachment includes one or more feature as describedand/or illustrated regarding toothbrush head 104 connection to body 103,FIG. 1).

In some embodiments, the head is a toothbrush head 704.

In some embodiments, toothbrush head 704 is detachable by a user, forexample, potentially enabling use of device 702 by different users (e.g.using different toothbrush heads) and/or replacement of a worn head.

In some embodiments, toothbrush head 704 includes an RFID tag. Where, insome embodiments, the system includes an RFID reader. In someembodiments, the system identifies a particular user (e.g. from aplurality of users) by the toothbrush head RFID which has been attachedto the toothbrush body before brushing. For example, enabling automaticoperation of the system for a particular user. In some embodiments, thesystem is enabled only for valid RFID tagged toothbrush heads e.g.preventing the use of counterfeit toothbrush heads.

In some embodiments, toothbrush head 704 includes one or more of acamera and a projector e.g. configured to collect images of dentalsurfaces during brushing.

FIG. 7C is a simplified schematic of a dental device, including acalibration attachment 750, according to some embodiments of theinvention.

In some embodiments, e.g. as described regarding FIG. 6, calibrationhead 750 is attached to dental device 702 where, in some embodiments,the calibration head does not include bristles. In some embodiments, asystem toothbrush attachment lacks imager/s and a system calibrationhead includes one or more imager and/or projector.

In some embodiments, calibration head 750 collects pressure and/orcontact measurements, e.g. using one or more sensor. In someembodiments, calibration head 750 includes one or more sensor configuredto measure contact impedance.

FIG. 8A is a simplified schematic of a distal portion of a dental device802 connected to a calibration attachment 850, according to someembodiments of the invention.

In some embodiments, calibration attachment 850 includes one or moremirror 852. In some embodiments, mirror 852 is configured change a FOV856 of an imager 806. In some embodiments, the mirror changes FOV 866 tobe suitable for collection of images of dental structures. In someembodiments, calibration attachment 850 changes a region illuminated bya projector 842, e.g. to that of FOV 866. For example, for collection ofdepth measurement/s of dental feature/s using dental device 802 andcalibration attachment 850.

A potential benefit of calibration attachment 850 is the ability tocollect measurements for generation of an anatomical model (e.g. apersonal anatomical calibration model) using the same imager as isconfigured to track toothbrush position.

In some embodiments, attachment of the calibration attachment to dentaldevice 802 includes one or more feature as illustrated and/or describedregarding attachment of toothbrush head 104 connection to body 103, FIG.1.

FIG. 8B is a simplified schematic of a dental device 802 including acalibration head 850 and a toothbrush head 804, according to someembodiments of the invention.

In some embodiments, dental device 802 is a toothbrush incorporatingboth a toothbrush head 804, and a calibration head 850. Where, in someembodiments, calibration head 850 includes one or more feature asdescribed and/or illustrated regarding FIG. 8A. For example, in someembodiments, figure numerals of FIG. 8A correspond to figure numerals ofFIG. 8B.

In some embodiments, the toothbrush is provided and/or used with boththe toothbrush and calibration heads. Alternatively, in someembodiments, one or both of the toothbrush and the calibration head areremovable. For example, potentially enabling replacement of thetoothbrush head e.g. of a worn toothbrush head. For example, enablinginitial calibration using the calibration head and then removal of thecalibration head e.g. to reduce bulk of the toothbrush and/or provide anunobstructed view of the toothbrush head to the imager 806 and/orprojector 842.

Exemplary Optical Properties

In some embodiments, one or more feature as described and/or illustratedin U.S. Provisional Application No. 62/662,558 which is hereinincorporated by reference it its entirety, is used in conjunction withapparatus and/or methods as described within this document.

In some embodiments, a referential pattern (as described in U.S.Provisional Application No. 62/662,558) is illuminated as shownschematically in FIGS. 8A and 8B, for instance through mirror 852.

In some embodiments, the referential pattern is used for bulk opticalproperties extraction of an illuminated object (e.g. tooth, inlays,crowns, gums, tongue, carry or other intraoral features).

Alternatively or additionally, a referential pattern is used forextraction of subsurface properties and/or surface properties and/orpoint properties. For example optical properties of subsurface features,areas and/or layers optical properties (i.e. not the outer surface) maybe measured and/or estimated. The measured properties may be used, forexample to facilitate accurate esthetic restoration.

In some embodiments, the following process may include some or all ofthe following actions:

Illuminate object with a referential patternTake an image of the object illuminated with the referential patternOptionally take a further image of the object, for example:

-   -   an image under ambient illumination (e.g. without pattern        illumination)    -   an image under uniform illumination    -   an image under white illumination        Optionally correct pattern features and/or colors. For example,        corrections may be based on data from different illumination        schemes. For example, corrections to illuminated areas in a        pattern may be based on data from non- illuminated areas the        pattern. Alternatively or additionally, corrections may be based        on images made under ambient light, uniform light and/or white        illumination.        Optionally, generate a depth map of illuminated object        For a plurality of areas in the image (e.g. areas with        relatively uniform properties and/or limited depth variation,        for instance depth variation <5 mm) do some or all of the        following optional processes:    -   determine local depth    -   estimate optics (e.g. projector and imager) local PSF (point        spread function) using calibration information    -   Deconvolve with PSF function (i.e. remove the effect of optics        defocus)    -   resolve the amount of light scattered through the illuminated        object vs. distance from illuminated feature and illuminated        feature wavelength.    -   compute a measure of scattering for example μ_(s′), μ_(a)        (reduced scattering and absorption coefficients). Optionally the        scattering coefficient will be computed as a function of depth        from surface, location on object and/or illumination wavelength        Optionally, gather optical properties information for multiple        illuminated locations on the object depth map (e.g. 3D model)        during scan        Optionally integrate gathered optical properties information        over a 3D model optionally including non-measure areas (e.g. by        interpolation and/or extrapolation). For example, a 3D model may        be constructed which allows estimation of optical properties vs.        wavelength and/or depth within the tooth or the tissue for each        location on 3D model

In some embodiments, intra-oral features may be illuminated with areferential pattern. For example a referential pattern can include 7different colors. Optionally the colors are presented in a pseudo randomsequence with black regions in between.

Exemplary Measurement of Exemplary Optical Properties

In some embodiments, a tooth is illuminated with a striped pattern ofcolors with black gaps in between. In some embodiments photons may bereflected from tooth surface and/or scattered and/or absorbed. Withoutbeing limited to a theoretical framework, calculations may be based onan approximation, for example one possible approximation is that aphoton migrating through strongly scattering media, such as tissue orteeth that enters the media at some point and is measured at anotherpoint, may follow a banana shaped volume distribution in the media. Thetheoretical construct and some calculations for this approximation isdescribed for instance in Feng S. et al. al. “Monte Carlo simulation ofphoton migration path distributions in multiple scattering media” ProcSPIE vol. 1888, (1993). The optical properties (absorption andscattering) of the tissue are optionally extracted from the number ofphotons which are measured at each distance from the illuminated stripe.Additionally or alternatively, measurement of light at differentdistances from the illumination stripe provides information on theoptical properties vs. depth from the tooth surface.

In some embodiments, said pattern can be used for detection of a biofilm(e.g. plaque), which may change the absorption and scattering at thetooth surface, but not at depth. In some embodiments the biofilm willchange the reflectivity of the surface of the tooth (for examplereducing reflectivity and/or darkening the shade) and/or block (obscure)a portion of the scattered light. Alternatively or additionally, thefilm will cause fluorescence in a frequency other than the frequency ofthe applied light. Optionally the presence of a biofilm and/or anotherfluorescing feature may be determined by returning light at a differentfrequency than the applied light. Optionally, the fluorescence will becombined with other changes for example change in reflectance and/orobscuring scattered light.

In some embodiments, different colors and/or the difference inproperties for different wavelengths may differentiate between features(e.g. gums, teeth, restorations) and/or between healthy areas and/orunhealthy areas (for example by detecting the presence of a biofilmand/or a change in geometry (for example reduction of bone mass).

In some embodiments, the image may include conventional color and/orhyper spectral color data. Optionally, a depth map of tooth is acquired.In some embodiments, the image is corrected locally for PSF. Forexample, the PSF of the optical system (e.g. referential patternprojector and/or imager) may be known.

In some embodiments, the referential black gap is illuminated by lightthat migrates through tooth from the illuminated stripes.

In some embodiments, an image may be used to identify spectral diffusereflectance R. For example, an image of a referential pattern may beanalyzed. Measured properties, for example diffusive reflectance may becorrected for the scattered light, for example by subtracting theestimated intensity of scattering. Optionally, estimation of scatter maybe based on measurements made in the black referential gaps. Measuredproperties, for example diffusive reflectance may be corrected for theambient illumination for example by subtracting the estimated intensityof the ambient light.

In some embodiments, an image may be used to determine a localflorescence of a tooth. Optionally, an image of a referential pattern isused also for gathering local florescence of the tooth. Florescence maybe interpreted to identify the presence of organic materials and/ortooth decay. The florescence is obtained, for example, by measuring theamount of light emitted at a different wavelength than the lightprojected onto a dental feature (e.g. a tooth). For example, light athigher wavelengths emitted from a blue illuminated area. To get accurateestimation of the concentration of the material that emits theflorescence (e.g. plaque) light, the effects of ambient and/orabsorption and/or scattering and/or distance and/or angle of both theabsorbed and the emitted light can be compensated, for example, asdescribed herein above.

In some embodiments, the scattering coefficient μ_(s) and/or theanisotropy g are used instead or together with the reduced scatteringcoefficient μ_(s′) or other optical properties or coefficients used forbetter description of the tooth.

The local μ_(s′), μ_(a), R_(λ), florescence and any additional neededoptical properties are gathered for each illuminated location on objectdepth map (e.g. 3D model) during the tooth scan. Some of the opticalproperties are also related to deeper layers (e.g. measured with dipper‘bananas’) of the tooth are added at the correct depth location in the3D model. All the gathered optical properties information over the 3Dmodel are integrated to provide optical properties vs. wavelength andlayer depth (i.e. depth below the surface) for each location on 3Dmodel. In some embodiments all the gathered optical propertiesinformation over all 3D model is integrated to provide opticalproperties vs. wavelength in a 3D voxel representation of intraoralscene, e.g. each location within the teeth and gums is represented by avoxel. In some embodiments, said voxel size is 10 um or 50 um or 100 umsmaller or larger. Each voxel can include information on the localoptical properties or any other local properties.

In some embodiments, a depth map of the feature may be generated.Optionally, during generation of the depth map, the colors of thepattern objects will be identified and used to improve thedifferentiation of different patter objects and/or the mapping ofposition. Optionally the data may be corrected. For example, an imagedmay corrected based on the structural model, and/or integrated data fromobjects under different lighting may be used to correct an image. Forexample, corrections may include corrections in the color of an objectbased on the distance of an object from a light source and/or based onan angle of the object with relation to the light source and/or theangle of the object to the imager. Alternatively or additionally,corrections may be based on an effect of background light and/orscattered light for example, by comparing measurements made underdifferent lighting conditions (for example illuminated regions vs. darkregions and/or regions illuminated under one color of vs. the regionilluminated with another color). For example, the position of a surfacemay be adjusted to account for light scattered from behind the surface.Based on the corrected image data, various properties may be determinedat various parts of the image. For example, optical properties and/ortheir 3D distribution may be determined including color, translucency,scattering, reflectance, refractance. Corrections 2106 may includevarious image enhancements and/or model corrections as described forexample herein below.

Identifying Intra-Oral Objects

In some embodiments, measured optical properties are used to identify anintra-oral feature. For example, an identified feature may be segmentedfrom other features and/or objects. For example, a feature may includean object (e.g. a tooth, a filling, a biofilm, a cavity, an area wheregums have receded, an area of bone loss) and/or materials (e.g. organicmaterial, enamel, living tissue) and/or geometric element (e.g. a ridge,a hole, a boundary). Optionally the feature may be on a visible surface.Alternatively or additionally an obscured feature may be identifiedbelow a surface of a dental object (e.g. a tooth) and obscured byanother object (e.g. blood, glare). For example data about opticalproperties at different wavelengths and/or spectroscopic data aboutoptical properties at different locations and/or at different depthsunderneath the tooth surface may be used to infer material properties.For instance, material properties inferred from optical measurements maybe used to identify restorations materials, dentin, enamel, decay etc.In some embodiments, a processor will be used to determine propertiesand/or identify features. For example, a fixed algorithm may be used tosegment an image and/or identify features. In some embodiments,artificial intelligence for example including deep learning may be used.Optionally, objects identified and/or properties determined will berendered to a user. For example, rendering may include displaying anobscured feature will with interfering objects left out and/ordisplaying a cross section of an object and/or highlighting certainfeatures. Segmentation and identification for example as describedherein below. For example, dental pathologies may be identified and/orsigns of pathologies may be highlighted during rendering.

Tooth Segmentation and Classification

In some embodiments, to classify objects in the image, for instancetooth or gums, color (such as RGB) images are collected from patternedimages. Optionally, images are made of the objects using a referentialpattern, for example lines pattern as described herein above. In someembodiments, known locations of the teeth and gums are used to build amodel. The color data is optionally sorted according to its location inthe image with respect to the lines on the image. Data is optionallyprocessed. For example, the locations of the illuminated lines areidentified and the position of each line center is marked, as well asthe position of the center of the area between each two lines—the “darklines”. Optionally color data is collected for each illuminated line andfor each dark line. For example, the illuminated lines may providemeasurements of the spectral reflection for each color in the pattern.The information that the dark lines optionally provides opticalproperties obtained from light that was scattered thorough the tooth orthe tissue (for example tooth and/or gums) from the illuminated lines tothe dark area in between the lines.

In some embodiments, for each pattern object (for example illuminatedand/or dark lines) a model is built based on the known data to separatethe teeth from the gum. This model can use, for example, RGB data, HSVdata (derived from the RGB data) and/or another color format, and/or acombination of several color formats at once. The model may be builtfrom the entirety of the data, from data from only on the dark lines,only on the illuminated lines, and/or for each line separately. Themodel may use one or more of classification algorithms, such ask-nearest neighbors, classification tree etc. In some embodiments, themodel is built on a classification for example, on RGB and location suchthat for each possible RGB and location combination a classification isgiven. In some embodiments, this facilitates a quick rendering ofclassification. In some embodiments, from the model shades or each areaand/or feature are identified. Optionally, the model obtained may besaved for later scans with similar referential pattern, colors andspacing. Optionally the results are output.

Further Exemplary Embodiments

FIG. 9 is a flow chart of an exemplary method of use, according to someembodiments of the invention.

At 900, optionally, in some embodiments, a user attaches a calibrationhead (e.g. calibration head 750 FIG. 7C, 850 FIGS. 8A-B) to a dentaldevice (e.g. dental device 102 FIG. 1, 302 FIG. 3, 402 FIG. 4, 502 FIG.5).

At 902, optionally, in some embodiments, a user scans the user's mouthusing the calibration head (e.g. upon being instructed to do so e.g. bya user interface). Alternatively or additionally, in some embodiments,scanning is performed using the dental device without a calibrationhead, e.g. the device including a toothbrush head and/or no headattachment. In some embodiments, the user scans (e.g. upon being isinstructed to) teeth without toothpaste to build calibration model.

In some embodiments, a calibration attachment and/or head is used tomeasure the optical properties of a room in which the dental device isused. In some embodiments, the dental device itself is used to measureoptical properties of the room.

In some embodiments, light projected from the device and/or reflectedback to the device is used to measure optical properties of theenvironment. In some embodiments, the device (e.g. calibration head)includes a fixed feature (e.g. marker). In some embodiments, marker/sare projected onto the calibration head.

In some embodiments, light levels recorded without active illumination(e.g. by the dental device) are used to measure the ambient light. Insome embodiments, displacement of the optical elements measured bytracking feature/s on the device are used to estimate environmentaltemperature. In some embodiments, contrast of feature/s measured on thecalibration head are used to estimate the fogginess of the environment.In some embodiments, a feedback signal is generated based on collectedmeasurements, for example, where measurement of optical properties ofthe environment indicate faulty imager and/or projection circuitry.

At 904, optionally, in some embodiments, a user interface displaysfeedback and/or instructions to the user (e.g. during scanning and/orafter an initial scan) directing scanning. In some embodiments, one ormore of steps 900 and 902 are performed by a technician.

At 906, in some embodiments, an anatomical model is generated using datacollected by the dental device.

At 908, in some embodiments, a user attaches a personal toothbrush headto the dental device and starts to brush their teeth.

At 910, in some embodiments, brushing performance is evaluated. In someembodiments, toothbrush position data is used to evaluate brushingperformance. In some embodiments, toothbrush position data is evaluatedfor different portions of the user's mouth, e.g. for each tooth and/orfor mouth regions and/or for individual tooth surfaces.

In some embodiments, evaluation involves estimating, from position data,an extent of a surface or region that was brushed and/or duration and/orpressure of brushing. In some embodiments, additional data is used, e.g.sensor data provided by one or more sensor within the toothbrush, forexample, a sensor configured to measure contact and/or pressure ofcontact between the toothbrush and dental surfaces. For example, in someembodiments, the toothbrush includes one or more pressure or forcesensor e.g. a strain gauge on a region of the toothbrush which bendsunder pressure (e.g. on a neck of the toothbrush e.g. neck 160 FIG. 1).

In some embodiments, contact impedance measurement/s are collected.Alternatively or additionally, in some embodiments, deflection ismeasured optically e.g. using one or more imager (e.g. of thetoothbrush). For example, in some embodiments, deflection of a flexibleneck of the toothbrush is measured optically, for example, by an imagerof the toothbrush which has a FOV which includes the toothbrush neck.

In some embodiments, contact and/or a level of contact between thetoothbrush bristles and user mouth portion/s (e.g. teeth) is determinedusing measurement of toothbrush bristle deflection. In some embodiments,bristle deflection is measured, optically, for example, by an imager ofthe toothbrush which has a FOV which includes the toothbrush bristles.

In some embodiments, measured bristle deflection (e.g. when contact isnot sensed) is used to evaluate when a replacement toothbrush and/ortoothbrush head is required. In some embodiments, measured bristle coloris used to evaluate when a replacement toothbrush and/or toothbrush headis required. In some embodiments, upon identifying a need for a newtoothbrush head, an alert is issued e.g. to the user.

In some embodiments, pressure and/or contact data (e.g. received fromone or more sensor e.g. as described above), is used to generatefeedback as to quality of brushing. For example in some embodiments,measured pressure and/or contact data is processed (e.g. by processor110, 310, 510) to generate feedback to a user and/or dentalpractitioner. For example, by identifying which portion/s of the user'steeth were contacted and/or brushed with sufficient pressure.

In some embodiments, pressure feedback includes instructions to a userto change pressure applied pressure during brushing, for example, thefeedback indicating to the user that too much or too little pressure isapplied. In some embodiments, the feedback is displayed to the userduring brushing and/or after brushing.

In some embodiments, evaluation includes comparing performance withbrushing guidance parameter/s, for example, as entered and/or selectedby a dental practitioner (e.g. as described regarding step 1206, FIG.12).

In some embodiments, the system includes one or more position sensor fortracking position of the toothbrush (e.g. including one or more featureas illustrated in and/or described regarding position sensor 199 FIG.1B). Where the system (e.g. the toothbrush), in some embodiments,includes one or more electromagnetic and/or ultrasonic position sensor.Where, in some embodiments, position sensor data is used in addition tooptical data for tracking position of the toothbrush.

In some embodiments, one or more measurement from one or more positionsensor e(.g. one or more of position, speed, and acceleration) iscombined. For example, using a filter, e.g. an extended Kalman filter todetermine angular and/or spatial motion.

In some embodiments, non-imaging based tracking (e.g. using positionsensor/s) is used to increase accuracy and/or robustness of trackingusing imaging (e.g. as described in this document) for example, whereimages are collected in presence of one or more of fog, lowillumination, obstruction, blur, magnetic interferences.

At 912, in some embodiments, feedback and/or guidance parameter/s aredisplayed to a user where, in some embodiments, display to a userincludes one or more feature as described and/or illustrated regardingdisplay 414 FIG. 4 e.g. including visual and/or aural and/or hapticfeedback.

In some embodiments, feedback is displayed during brushing, for example,to assist the user (and/or user's care-giver brushing and/or supervisingbrushing) in brushing required areas e.g. for a desired amount of timeand/or pressure. In some embodiments, feedback includes display ofportion/s of the mouth e.g. requiring more attention.

For example, in some embodiments, a display includes a mouth and/orteeth map where, in some embodiments, area/s needing more brushing areindicated e.g. by different colors on the map. In some embodiments, themap includes color information received from IOS measurements. In someembodiments, the map is based on anatomical measurements of a particularuser. Optionally, in some embodiments, the map includes indication ofarea/s which need special and/or different care (e.g. additionalbrushing) e.g. as specified by a dental practitioner and/or asidentified by the system as being an area which requires more brushing.For example, where un-brushed areas are displayed in a first color,partially brushed areas in a second color and sufficiently brushed areasin a third color. In some embodiments, feedback during brushing includesinstructions as to direction and/or force of brushing.

At 914, in some embodiments, brushing data and/or brushing performancesent to a dental practitioner (e.g. via an app) and/or other care-givere.g. for analysis.

In some embodiments, brushing performance is stored, e.g. in a memory,for example for access by a user (or other individual). For example,enabling tracking of brushing performance and/or oral health over time.

In some embodiments, brushing data is sent to an external memory, forexample, for analysis of brushing performance and/or habits of aplurality of users of the dental device.

FIG. 10 is a simplified schematic of a tracking attachment 1060connected to a toothbrush 1002, according to some embodiments of theinvention.

In some embodiments, an attachment 1060 includes at least one imager1022 and is configured to be attached to a toothbrush (and/or a personalcare device and/or dental implement). In some embodiments, attachment1060 includes an indentation and/or channel sized and/or shaped toreceive a portion of a device (e.g. toothbrush). In some embodiments,the channel is size adjustable and/or includes high friction materiale.g. potentially preventing detachment and/or movement of the trackingattachment from the toothbrush. For example, a handle of the toothbrush.In some embodiments, attachment 1060 is configured to be attached to anelectric toothbrush and/or a manual toothbrush. In some embodiments,attachment 1060 includes a portion which is size adjustable forattachment to toothbrush 1002. In some embodiments, tracking attachment1060 is connected to toothbrush 1002 by one or more connector, e.g.adhesive, screw attachment.

In some embodiments, imager 1022 is connected (e.g. wirelessly) to oneor more processor (e.g. including one or more feature as describedregarding processor 110 FIGS. 1A-B). Where, in some embodiments, aconnected processor is part of attachment 1060 and/or a connectedprocessor is external to the attachment, e.g. hosted by a portableelectronic device e.g. smartphone, electrical toothbrush, smart glasses.

FIG. 11 is a simplified schematic of a tracking attachment connected toa toothbrush, according to some embodiments of the invention.

In some embodiments, tracking attachment 1160 includes one or morefeature as described and/or illustrated regarding tracking attachment1060 FIG. 10. In some embodiments, tracking attachment 1106 includesmore than one imager 1106, 1118, 1112 and/or one or more projector 1142,1146, for example, operation of imager/s and/or projector/s as describedelsewhere in this document.

In some embodiments, one or more of imagers 1106, 1118, 1112 and/orprojectors 1142, 1146, are connected (e.g. wirelessly) to one or moreprocessor (e.g. including one or more feature as described regardingprocessor 110 FIGS. 1A-B). Where, in some embodiments, a connectedprocessor is part of attachment 1160 and/or a connected processor isexternal to the attachment, e.g. hosted by a portable electronic devicee.g. smartphone, electrical toothbrush, smart glasses.

FIG. 12 is a flow chart of a method of user of a dental device,according to some embodiments of the invention.

At 1200, in some embodiments, a patient visits a dental practitionere.g. dentist and/or dental hygienist.

Optionally, at 1202, in some embodiments, the dental practitionercollects patient calibration measurements. For example, using the dentaldevice (e.g. including one or more feature as described and/orillustrated regarding FIGS. 6-9). Alternatively, or additionally, insome embodiments, calibration measurements are collected using one ormore additional device. For example, using an IOS. For example, usingone or more additional imaging modality e.g. ultrasound, x-ray, MRI, CTeither by the dental practitioner or by another practitioner and/or in adifferent treatment center.

Optionally, at 1204, in some embodiments, a dental practitioner uses thedental device during cleaning of the patient's teeth. For example, bybrushing the patient's teeth with the dental device. For example, byattaching one or more dental implement attachment head (e.g. probe, bur)to the dental device.

In some embodiments, the dental practitioner sets guidance parameters,for example, during the patient's visit. In some embodiments, guidanceparameters include guidance for user use of the device e.g. durationand/or pressure for brushing for one or more dental area, for example,specification of dental areas which require additional cleaning. In someembodiments, guidance parameters include device control instructions,for example, brushing speed and/or direction e.g. based on position ofthe device within the mouth. For example, pressure and/or speed ofbrushing e.g. based on the individual patient/s requirements.

In some embodiments, guidance parameters include instructions for one ormore other treatment than brushing. For example, whitening treatments.For example, positioning of aligner/s. At 1208, in some embodiments, theuser (e.g. during and/or after the dental practitioner visit) brushesteeth using the device. For example, on a daily basis and/orperiodically (e.g. in some embodiments, guidance parameters include afrequency of using the device). In some embodiments, during and/orbefore brushing, the system communicates dental practitioner guidanceparameter/s to the user. For example, through one or more userinterface.

At 1210, in some embodiments, brushing data is sent to the dentalpractitioner, e.g. a status report of brushing performance and/or ofdental health. In some embodiments, a dental practitioner (e.g.remotely) views brushing image/s (and/or footage) and provides feedback,optionally in real time where dental practitioner feedback is receivedby the user e.g. from one or more system display, during brushing. Forexample, where the dental practitioner identifies (e.g. from oral cavityimages received by the dental practitioner) a dental portion needingparticular care and instructs the patient to take action for this dentalportion, for example brush for a longer duration.

In some embodiments, the dental practitioner determines and/or changes afuture date for a patient visit, based on brushing data.

In some embodiments, based on received data the dental practitionerchanges brushing guidance parameter/s, for example, between patientvisits to the dental practitioner.

In some embodiments, a dental device is and/or includes, for example aflossing device, other dental tool, and/or a personal care device e.g.shaver include imager/s and/or tracking methods e.g. as described withinthis document. Where, for example, embodiments include the illustratedand/or described embodiments where the toothbrush head is replaced witha different dental and/or personal care tool.

FIG. 13 is a simplified schematic of a toothbrush tracking system 1300including user glasses 1380, according to some embodiments of theinvention.

In some embodiments, glasses 1380 include one or more imager 1382. Insome embodiments, a FOV 1386 of imager 1382 configured to include atleast a portion of a toothbrush 1302, when the toothbrush is being usedby a user 1336. Alternatively or additionally, FOV 1386 is configured toinclude a reflection of user 1336 and/or toothbrush 1302, when user istooth-brushing in front of a mirror. In some embodiments, one or moreimager is configured to directly collect image/s of a user's face.

In some embodiments, glasses 1380 include more than one imager, forexample a first imager configured to capture images of the toothbrushdirectly and a second imager configured to capture images including areflection of the user and/or of the toothbrush.

In some embodiments, glasses 1380 include one or more marker, where, insome embodiments, markers on acquired images are used as landmarks(where use of landmarks includes one or more feature as describedregarding and/or illustrated in FIG. 2 and/or elsewhere in thisdocument).

In some embodiments, glasses 1380 include one or more user interface.For example, a display 1384 configured to display images to the usere.g. mounted to the glasses and/or projecting images onto glasseslens/es.

In some embodiments, glasses 1380 include one or more processor (e.g.including one or more feature as described and/or illustrated regardingprocessor 110 FIGS. 1A-B) and/or connectivity to an external processor.In some embodiments, imager/s 1382 are connected to the processor e.g.sending data to the processor and/or receiving control instructions fromthe processor.

In some embodiments, glasses 1380 include a virtual reality headsetand/or a mixed reality headset and/or an augmented reality headset.Where, for example, the user views image/s of an augmented view (e.g.including guidance and/or feedback e.g. regarding brushing e.g. asdescribed elsewhere in this document) of images of the user brushing.

In some embodiments, feedback to a user (e.g. displayed on a headsetand/or another user interface e.g. display 414 FIG. 4) includesfeature/s and/or regions where one or more portion of the region is notvisible to the user. In some embodiments, model/s and/or image/s ofinside the oral cavity e.g. including dental feature/s and/or the dentalimplement are displayed. In some embodiments, feedback indication/s(e.g. including one or more feature as described regarding step 912,FIG. 9) are displayed on and/or with the model/s and/or image/s.

In some embodiments, glasses 1380 include a commercially availableproduct, for example, Microsoft® HoloLens™, Magic Leap One™, Meta 2™.

In some embodiments, a dental device tracking system includes a VirtualReality (VR) or Augmented Reality (AR) glasses 1380 and a toothbrush(lacking electronics) or an electric toothbrush. Where, in someembodiments, the toothbrush includes marker/s. In some embodiments, theglasses collect image/s of the toothbrush (e.g. of toothbrush marker/s)and/or of user body portion/s for tracking the toothbrush e.g. usingmethods as described elsewhere in this document.

In some embodiments, the brushing information and/or feedback displayedto the user is presented as a game. Where, in some embodiments, score onthe game is related to brushing performance.

General

It is expected that during the life of a patent maturing from thisapplication many relevant dental treatment and measurement technologieswill be developed and the scope of the terms dental device is intendedto include all such new technologies a priori.

As used herein the term “about” refers to ±20%

The terms “comprises”, “comprising”, “includes”, “including”, “having”and their conjugates mean “including but not limited to”.

The term “consisting of” means “including and limited to”.

The term “consisting essentially of” means that the composition, methodor structure may include additional ingredients, steps and/or parts, butonly if the additional ingredients, steps and/or parts do not materiallyalter the basic and novel characteristics of the claimed composition,method or structure.

As used herein, the singular form “a”, “an” and “the” include pluralreferences unless the context clearly dictates otherwise. For example,the term “a compound” or “at least one compound” may include a pluralityof compounds, including mixtures thereof.

Throughout this application, various embodiments of this invention maybe presented in a range format. It should be understood that thedescription in range format is merely for convenience and brevity andshould not be construed as an inflexible limitation on the scope of theinvention. Accordingly, the description of a range should be consideredto have specifically disclosed all the possible subranges as well asindividual numerical values within that range. For example, descriptionof a range such as from 1 to 6 should be considered to have specificallydisclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numberswithin that range, for example, 1, 2, 3, 4, 5, and 6. This appliesregardless of the breadth of the range.

Whenever a numerical range is indicated herein, it is meant to includeany cited numeral (fractional or integral) within the indicated range.The phrases “ranging/ranges between” a first indicate number and asecond indicate number and “ranging/ranges from” a first indicate number“to” a second indicate number are used herein interchangeably and aremeant to include the first and second indicated numbers and all thefractional and integral numerals therebetween.

As used herein the term “method” refers to manners, means, techniquesand procedures for accomplishing a given task including, but not limitedto, those manners, means, techniques and procedures either known to, orreadily developed from known manners, means, techniques and proceduresby practitioners of the chemical, pharmacological, biological,biochemical and medical arts.

As used herein, the term “treating” includes abrogating, substantiallyinhibiting, slowing or reversing the progression of a condition,substantially ameliorating clinical or aesthetical symptoms of acondition or substantially preventing the appearance of clinical oraesthetical symptoms of a condition.

It is appreciated that certain features of the invention, which are, forclarity, described in the context of separate embodiments, may also beprovided in combination in a single embodiment. Conversely, variousfeatures of the invention, which are, for brevity, described in thecontext of a single embodiment, may also be provided separately or inany suitable subcombination or as suitable in any other describedembodiment of the invention. Certain features described in the contextof various embodiments are not to be considered essential features ofthose embodiments, unless the embodiment is inoperative without thoseelements.

Although the invention has been described in conjunction with specificembodiments thereof, it is evident that many alternatives, modificationsand variations will be apparent to those skilled in the art.Accordingly, it is intended to embrace all such alternatives,modifications and variations that fall within the spirit and broad scopeof the appended claims.

All publications, patents and patent applications mentioned in thisspecification are herein incorporated in their entirety by referenceinto the specification, to the same extent as if each individualpublication, patent or patent application was specifically andindividually indicated to be incorporated herein by reference. Inaddition, citation or identification of any reference in thisapplication shall not be construed as an admission that such referenceis available as prior art to the present invention. To the extent thatsection headings are used, they should not be construed as necessarilylimiting.

1. A dental device tracking method comprising: acquiring, using animager of a dental device, at least a first image which includes animage of at least one user body portion outside of a user's oral cavity;identifying said at least one user body portion in said first image; anddetermining, using said at least said first image, a position of saiddental device with respect to said at least one user body portion. 2-48.(canceled)